Publication
Exact interval propagation for the efficient solution of position analysis problems on planar linkages
Journal Article (2012)
Journal
Mechanism and Machine Theory
Pages
116-131
Volume
54
Doc link
http://dx.doi.org/10.1016/j.mechmachtheory.2012.03.005
File
Abstract
This paper presents an interval propagation algorithm for variables in planar single-loop linkages. Given intervals of allowed values for all variables, the algorithm provides, for every variable, the whole set of values, without overestimation, for which the linkage can actually be assembled. We show further how this algorithm can be integrated in a branch-and-prune search scheme, in order to solve the position analysis of general planar multi-loop linkages. Experimental results are included, comparing the method's performance with that of previous techniques given for the same task.
Categories
robot kinematics.
Author keywords
interval propagation, planar linkages, box approximation, loop equation, position analysis, forward and inverse kinematics
Scientific reference
E. Celaya, T. Creemers and L. Ros. Exact interval propagation for the efficient solution of position analysis problems on planar linkages. Mechanism and Machine Theory, 54: 116-131, 2012.
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