Publication
Solving multi-loop linkages by iterating 2D clippings
Conference Article
Conference
International Symposium on Advances in Robot Kinematics (ARK)
Edition
8th
Pages
255-264
Doc link
http://www.springer.com/engineering/book/978-1-4020-0696-8
File
Abstract
A 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.
Categories
robots.
Author keywords
kinematic constraints, constraint graph, geometric constraint systems, multilinear equations, clipping
Scientific reference
J.M. Porta, L. Ros, F. Thomas and C. Torras. Solving multi-loop linkages by iterating 2D clippings, 8th International Symposium on Advances in Robot Kinematics, 2002, Caldes de Malavella, Espanya, in Advances in Robot Kinematics, pp. 255-264, 2002, Springer.
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