A branch-and-prune method to solve closure equations in dual quaternions

© 2021 Elsevier

Detalles Bibliográficos
Autores: Shabani, Arya, Porta Pleite, Josep Maria|||0000-0002-5056-1717, Thomas, Federico|||0000-0001-9341-5528
Tipo de recurso: artículo
Fecha de publicación:2021
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:2117/355122
Acceso en línea:https://hdl.handle.net/2117/355122
https://dx.doi.org/10.1016/j.mechmachtheory.2021.104424
Access Level:acceso abierto
Palabra clave:Robots
Position analysis
Multiloop mechanisms
Forward kinematics
Inverse kinematics
Kinematotropic mechanisms
Multiaffine systems
Branch-and-prune methods
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling A branch-and-prune method to solve closure equations in dual quaternionsShabani, AryaPorta Pleite, Josep Maria|||0000-0002-5056-1717Thomas, Federico|||0000-0001-9341-5528RobotsPosition analysisMultiloop mechanismsForward kinematicsInverse kinematicsKinematotropic mechanismsMultiaffine systemsBranch-and-prune methodsClassificació INSPEC::Automation::RobotsÀrees temàtiques de la UPC::Informàtica::Robòtica© 2021 ElsevierUsing dual quaternions, the closure equations of a kinematic loop can be expressed as a system of multiaffine quations. In this paper, this property is leveraged to introduce a branch-and-prune method specially tailored for solving such systems of equations. The new method is objectively simpler (in the sense that it is easier to understand and to implement) than previous approaches relying on general techniques such as interval Newton methods or methods based on Bernstein polynomials or linear relaxations. Moreover, it relies on two basic operations —linear interpolation and projection onto coordinate planes— that can be e¿ciently computed. The generality of the proposed method is evaluated on position analysis problems with 0-, 1-, and 2-dimensional solution sets, including the inverse kinematics of serial robots and the forward kinematics of parallel ones. The results obtained on these problems show that the efficiency of the method compares favorably to state-of-the-art alternatives.This work was partially supported by the Spanish Ministry of Economy and Competitiveness through the project DPI2017- 88282-P.Peer Reviewed20212021-01-0120212021-11-02journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/355122https://dx.doi.org/10.1016/j.mechmachtheory.2021.104424reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengAgencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016 DPI2017-88282-P PLANIFICACION CINETODINAMICA DE MOVIMIENTOS ROBOTICOS EFICIENTES Y AGILESopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3551222026-05-27T15:37:01Z
dc.title.none.fl_str_mv A branch-and-prune method to solve closure equations in dual quaternions
title A branch-and-prune method to solve closure equations in dual quaternions
spellingShingle A branch-and-prune method to solve closure equations in dual quaternions
Shabani, Arya
Robots
Position analysis
Multiloop mechanisms
Forward kinematics
Inverse kinematics
Kinematotropic mechanisms
Multiaffine systems
Branch-and-prune methods
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short A branch-and-prune method to solve closure equations in dual quaternions
title_full A branch-and-prune method to solve closure equations in dual quaternions
title_fullStr A branch-and-prune method to solve closure equations in dual quaternions
title_full_unstemmed A branch-and-prune method to solve closure equations in dual quaternions
title_sort A branch-and-prune method to solve closure equations in dual quaternions
dc.creator.none.fl_str_mv Shabani, Arya
Porta Pleite, Josep Maria|||0000-0002-5056-1717
Thomas, Federico|||0000-0001-9341-5528
author Shabani, Arya
author_facet Shabani, Arya
Porta Pleite, Josep Maria|||0000-0002-5056-1717
Thomas, Federico|||0000-0001-9341-5528
author_role author
author2 Porta Pleite, Josep Maria|||0000-0002-5056-1717
Thomas, Federico|||0000-0001-9341-5528
author2_role author
author
dc.subject.none.fl_str_mv Robots
Position analysis
Multiloop mechanisms
Forward kinematics
Inverse kinematics
Kinematotropic mechanisms
Multiaffine systems
Branch-and-prune methods
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robots
Position analysis
Multiloop mechanisms
Forward kinematics
Inverse kinematics
Kinematotropic mechanisms
Multiaffine systems
Branch-and-prune methods
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
description © 2021 Elsevier
publishDate 2021
dc.date.none.fl_str_mv 2021
2021-01-01
2021
2021-11-02
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/355122
https://dx.doi.org/10.1016/j.mechmachtheory.2021.104424
url https://hdl.handle.net/2117/355122
https://dx.doi.org/10.1016/j.mechmachtheory.2021.104424
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016 DPI2017-88282-P PLANIFICACION CINETODINAMICA DE MOVIMIENTOS ROBOTICOS EFICIENTES Y AGILES
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
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
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
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
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