Exact interval propagation for the efficient solution of position analysis problems on planar linkages
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...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2012 |
| 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:2117/89383 |
| Acceso en línea: | https://hdl.handle.net/2117/89383 https://dx.doi.org/10.1016/j.mechmachtheory.2012.03.005 |
| Access Level: | acceso abierto |
| Palabra clave: | robot kinematics interval propagation planar linkages box approximation loop equation position analysis forward and inverse kinematics Classificació INSPEC::Automation::Robots::Robot kinematics Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | 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, comparing the method’s perfor mance with that of previous techniques given for the same task. |
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