Publication

Fast multiresolutive approximations of planar linkage configuration spaces

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2006

Pages

1511-1517

Doc link

http://dx.doi.org/10.1109/ROBOT.2006.1641922

File

Download the digital copy of the doc pdf document

Abstract

This paper presents a numerical method able to compute all possible configurations of a planar linkage. The procedure is applicable to rigid linkages (i.e., those that can only adopt a finite number of isolated configurations) and to mobile ones (i.e., those that have internal degrees of freedom). The method is based on the fact that this analysis always reduces to finding the roots of a polynomial system of linear, quadratic, and hyperbolic equations, which is here tackled with a new strategy exploiting its structure. The method is conceptually simple, geometric in nature, and easy to implement, yet it provides solutions of the desired accuracy in short computation times. Experiments are included which show its performance on the double butterfly linkage, for which an accurate an complete discretization of its configuration space is obtained

Categories

robots.

Scientific reference

T. Creemers, J.M. Porta, L. Ros and F. Thomas. Fast multiresolutive approximations of planar linkage configuration spaces, 2006 IEEE International Conference on Robotics and Automation, 2006, Orlando, Estats Units d'Amèrica, pp. 1511-1517, IEEE.