Publication
Interval propagation for solving parallel spherical mechanisms
Conference Article
Conference
International Symposium on Advances in Robot Kinematics (ARK)
Edition
8th
Pages
415-422
Doc link
http://www.springer.com/engineering/book/978-1-4020-0696-8
File
Abstract
An interval propagation method for spherical kinematic loops is used in a branch and prune algorithm to solve the direct kinematics of parallel spherical mechanisms. The algorithm finds all solutions with a desired resolution. The use of specific properties of the rotation equations involved allows the method to be more efficient than more general algorithms for this problem.
Categories
robots.
Author keywords
interval methods, interval propagation, parallel spherical mechanisms
Scientific reference
E. Celaya. Interval propagation for solving parallel spherical mechanisms, 8th International Symposium on Advances in Robot Kinematics, 2002, Caldes de Malavella, Espanya, in Advances in Robot Kinematics, pp. 415-422, 2002, Springer.
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