Publication
A linear relaxation technique for the position analysis of multiloop linkages
Journal Article (2009)
Journal
IEEE Transactions on Robotics
Pages
225-239
Volume
25
Number
2
Doc link
http://dx.doi.org/10.1109/TRO.2008.2012337
File
Abstract
This paper presents a new method to isolate all configurations that a multiloop linkage can adopt. The problem is tackled by means of formulation and resolution techniques that fit particularly well together. The adopted formulation yields a system of simple equations (only containing linear, bilinear, and quadratic monomials, and trivial trigonometric terms for the helical pair only) whose structure is later exploited by a branch-and-prune method based on linear relaxations. The method is general, as it can be applied to linkages with single or multiple loops with arbitrary topology, involving lower pairs of any kind, and complete, as all possible solutions get accurately bounded, irrespective of whether the linkage is rigid or mobile.
Categories
robots.
Author keywords
closed chain, forward and inverse kinematics, geometric constraint, loop closure, multibody system, multiloop linkage, position analysis.
Scientific reference
J.M. Porta, L. Ros and F. Thomas. A linear relaxation technique for the position analysis of multiloop linkages. IEEE Transactions on Robotics, 25(2): 225-239, 2009.
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