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

Author
Celaya, E.; Creemers, T.; Ros, L.
Type of activity
Journal article
Journal
Mechanism and machine theory
Date of publication
2012
Volume
54
First page
116
Last page
131
DOI
https://doi.org/10.1016/j.mechmachtheory.2012.03.005 Open in new window
Repository
http://hdl.handle.net/2117/89383 Open in new window
URL
http://dx.doi.org/10.1016/j.mechmachtheory.2012.03.005 Open in new window
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, 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,...
Citation
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.
Keywords
box approximation, forward and inverse kinematics, interval propagation, loop equation, planar linkages, position analysis, robot kinematics
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
KRD - Kinematics and Robot Design

Participants