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

Download the digital copy of the doc pdf document

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.