Box approximations of planar linkage configuration spaces

This paper presents a numerical method able to compute all possible configurations of planar linkages. The procedure is applicable to rigid linkages (i.e., those that can only adopt a finite number of configurations) and to mobile ones (i.e., those that exhibit a continuum of possible configurations...

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Detalles Bibliográficos
Autores: Porta Pleite, Josep Maria|||0000-0002-5056-1717, Ros Giralt, Lluís|||0000-0002-8338-6062, Creemers, Tom Lambert|||0000-0002-3862-0163, Thomas, Federico|||0000-0001-9341-5528
Tipo de recurso: artículo
Fecha de publicación:2007
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/2721
Acceso en línea:https://hdl.handle.net/2117/2721
Access Level:acceso abierto
Palabra clave:Robots
Robotics
Robòtica
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
id ES_3c1909d8aa73e1f4fa553c19ac2af6a9
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network_acronym_str ES
network_name_str España
repository_id_str
spelling Box approximations of planar linkage configuration spacesPorta Pleite, Josep Maria|||0000-0002-5056-1717Ros Giralt, Lluís|||0000-0002-8338-6062Creemers, Tom Lambert|||0000-0002-3862-0163Thomas, Federico|||0000-0001-9341-5528RobotsRoboticsRobotsRobòticaClassificació INSPEC::Automation::RobotsÀrees temàtiques de la UPC::Informàtica::RobòticaThis paper presents a numerical method able to compute all possible configurations of planar linkages. The procedure is applicable to rigid linkages (i.e., those that can only adopt a finite number of configurations) and to mobile ones (i.e., those that exhibit a continuum of possible configurations). The method is based on the fact that this problem can be reduced to finding the roots of a polynomial system of linear, quadratic, and hyperbolic equations, which is here tackled with a new strategy exploiting its structure. The method is conceptually simple and easy to implement, yet it provides solutions of the desired accuracy in short computation times. Experiments are included that show its performance on the double butterfly linkage and on larger linkages formed by the concatenation of basic patterns.Peer ReviewedASME International20072007-01-0120092009-03-13journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/2721reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/27212026-05-27T15:37:01Z
dc.title.none.fl_str_mv Box approximations of planar linkage configuration spaces
title Box approximations of planar linkage configuration spaces
spellingShingle Box approximations of planar linkage configuration spaces
Porta Pleite, Josep Maria|||0000-0002-5056-1717
Robots
Robotics
Robots
Robòtica
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Box approximations of planar linkage configuration spaces
title_full Box approximations of planar linkage configuration spaces
title_fullStr Box approximations of planar linkage configuration spaces
title_full_unstemmed Box approximations of planar linkage configuration spaces
title_sort Box approximations of planar linkage configuration spaces
dc.creator.none.fl_str_mv Porta Pleite, Josep Maria|||0000-0002-5056-1717
Ros Giralt, Lluís|||0000-0002-8338-6062
Creemers, Tom Lambert|||0000-0002-3862-0163
Thomas, Federico|||0000-0001-9341-5528
author Porta Pleite, Josep Maria|||0000-0002-5056-1717
author_facet Porta Pleite, Josep Maria|||0000-0002-5056-1717
Ros Giralt, Lluís|||0000-0002-8338-6062
Creemers, Tom Lambert|||0000-0002-3862-0163
Thomas, Federico|||0000-0001-9341-5528
author_role author
author2 Ros Giralt, Lluís|||0000-0002-8338-6062
Creemers, Tom Lambert|||0000-0002-3862-0163
Thomas, Federico|||0000-0001-9341-5528
author2_role author
author
author
dc.subject.none.fl_str_mv Robots
Robotics
Robots
Robòtica
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robots
Robotics
Robots
Robòtica
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
description This paper presents a numerical method able to compute all possible configurations of planar linkages. The procedure is applicable to rigid linkages (i.e., those that can only adopt a finite number of configurations) and to mobile ones (i.e., those that exhibit a continuum of possible configurations). The method is based on the fact that this problem can be reduced to finding the roots of a polynomial system of linear, quadratic, and hyperbolic equations, which is here tackled with a new strategy exploiting its structure. The method is conceptually simple and easy to implement, yet it provides solutions of the desired accuracy in short computation times. Experiments are included that show its performance on the double butterfly linkage and on larger linkages formed by the concatenation of basic patterns.
publishDate 2007
dc.date.none.fl_str_mv 2007
2007-01-01
2009
2009-03-13
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/2721
url https://hdl.handle.net/2117/2721
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv ASME International
publisher.none.fl_str_mv ASME International
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869406348100239360
score 15.300724

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