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Solving multi-loop linkages by iterating 2D clippings

AuthorsPorta, Josep M. ; Ros, Lluís ; Thomas, Federico ; Torras, Carme
KeywordsKinematic constraints
Constraint graph
Geometric constraint systems
Multilinear equations
Automation: Robots
Issue Date2002
Citation8th International Symposium on Advances in Robot Kinematics: 255-264 (2002)
AbstractA multi-loop linkage can be viewed as a graph of kinematic constraints, and its solution entails finding joint configurations satisfying all constraints simultaneously. In this paper, a general algorithm to obtain all solution configurations is presented. Each loop provides a matrix equation in homogeneous coordinates, which is handled as a constraint on the involved joint variables. The algorithm uses one constraint at a time to reduce the valid ranges for variables, by iteratively applying two simple geometric operations: segment-trapezoid and circle-rectangle clippings. The obtained experimental results qualify this approach as a valuable alternative to other interval-based strategies.
DescriptionInternational Symposium on Advances in Robot Kinematics (ARK), 2002, Caldes de Malavella (España)
Appears in Collections:(IRII) Comunicaciones congresos
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