2019-08-19T07:26:44Z
http://digital.csic.es/dspace-oai/request
oai:digital.csic.es:10261/30564
2019-06-11T06:26:14Z
com_10261_106
com_10261_4
col_10261_359
Porta, Josep M.
Ros, Lluís
Thomas, Federico
Torras, Carme
2010-12-17T13:27:20Z
2010-12-17T13:27:20Z
2005
IEEE Transactions on Robotics 21(2): 176-187 (2005)
1552-3098
http://hdl.handle.net/10261/30564
10.1109/TRO.2004.835450
Given some geometric elements such as points and lines in R3, subject to a set of pairwise distance constraints, the problem tackled in this paper is that of finding all possible configurations of these elements that satisfy the constraints. Many problems in robotics (such as the position analysis of serial and parallel manipulators) and CAD/CAM (such as the interactive placement of objects) can be formulated in this way. The strategy herein proposed consists of looking for some of the a priori unknown distances, whose derivation permits solving the problem rather trivially. Finding these distances relies on a branch-and-prune technique, which iteratively eliminates from the space of distances entire regions which cannot contain any solution. This elimination is accomplished by applying redundant necessary conditions derived from the theory of distance geometry. The experimental results qualify this approach as a promising one.
eng
openAccess
Branch-and-prune
Direct and inverse kinematics
Distance constraint
Interval method
Robots
A branch-and-prune solver for distance constraints
Artículo