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A linear relaxation technique for the position analysis of multi-loop linkages

Author
Porta, J.; Ros, L.; Thomas, F.
Type of activity
Report
Date
2008-01
URL
http://hdl.handle.net/2117/2690 Open in new window
Abstract
This report presents a new method able to isolate all configurations that a multi-loop linkage can adopt. We tackle the problem by providing formulation and resolution techniques that fit particularly well together. The adopted formulation yields a system of simple equations (only containing linear and bilinear terms, and trivial trigonometric functions for the helical pair exclusively) whose special structure is later exploited by a branch-and-prune method based on linear relaxations. The metho...
Citation
Porta, Josep Maria; Ros, Lluís; Thomas, Federico. "A linear relaxation technique for the position analysis of multi-loop linkages". Technical Report IRI-DT-08-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.
Group of research
KRD - Kinematics and Robot Design

Participants

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