... method for finding appropriate base positions (BPs) and maximum painting areas for manipulators. Design/methodology/approach This paper begins by analyzing the motion characteristics of manipulators possessing a spherical wrist and summarizing them into three constraints – positioning, orientation...

...Shunan Ren; Xiangdong Yang; Jing Xu; Guolei Wang; Ying Xie; Ken Chen Purpose – The purpose of this paper is to determine the base position and the largest working area for mobile manipulators. The base position determines the workspace of the mobile manipulator, particularly when the operation...