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Exact interval propagation for the efficient solution of position analysis problems on planar linkages

Autor
Celaya, E.; Creemers, T.; Ros, L.
Tipus d'activitat
Article en revista
Revista
Mechanism and machine theory
Data de publicació
2012
Volum
54
Pàgina inicial
116
Pàgina final
131
DOI
https://doi.org/10.1016/j.mechmachtheory.2012.03.005 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/89383 Obrir en finestra nova
URL
http://dx.doi.org/10.1016/j.mechmachtheory.2012.03.005 Obrir en finestra nova
Resum
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, with out over-estimation, 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,...
Citació
Celaya, E., Creemers, T., Ros, L. Exact interval propagation for the efficient solution of position analysis problems on planar linkages. "Mechanism and machine theory", 2012, vol. 54, p. 116-131.
Paraules clau
Robot Kinematics, Interval Propagation, Planar Linkages, Box Approximation, Loop Equation, Position Analysis, Forward And Inverse Kinematics
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

Participants