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Distance bound smoothing under orientation constraints

Author
Rull, A.; Porta, J.; Thomas, F.
Type of activity
Presentation of work at congresses
Name of edition
2015 IEEE International Conference on Robotics and Automation
Date of publication
2015
Presentation's date
2015
Book of congress proceedings
2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Seattle, Washington, USA, 26-30 May 2015
First page
1431
Last page
1436
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ICRA.2015.7139377 Open in new window
Project funding
DPI2014-57220-C2-2-P RobCab: Control strategies for cable-driven robot for low-gravity simulation
Repository
http://hdl.handle.net/2117/84752 Open in new window
URL
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7139377 Open in new window
Abstract
Distance Bound Smoothing (DBS) is a basic operation originally developed in Computational Chemistry to determine point configurations that are within certain pairwise ranges of distances. This operation consist in the iterative application of filtering processes that reduce the given ranges using triangular and tetrangular inequalities. Standard DBS has a limited range of applications because it does not take into account constraints on the orientations of simplices (triangles or tetrahedra, dep...
Citation
Rull, A., Porta, J.M., Thomas, F. Distance bound smoothing under orientation constraints. A: IEEE International Conference on Robotics and Automation. "2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Seattle, Washington, USA, 26-30 May 2015". Seattle, WA: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 1431-1436.
Keywords
Robots; distance geometry, bound smoothing, orientation constraints
Group of research
KRD - Kinematics and Robot Design

Participants