Robotics: Science and Systems Conference (RSS), 2006, Filadelfia (EE.UU.) ; This paper presents a numerical method able to isolate all configurations that an arbitrary loop linkage can adopt, within given ranges for its degrees of freedom. The procedure is general, in the sense that it can be applied to single or multiple intermingled loops of arbitrary topology, and complete, in the sense that all possible solutions get accurately bounded, irrespectively of whether the analyzed linkage is rigid or mobile. The problem is tackled by formulating a system of linear, parabolic, and hyperbolic equations, which is here solved by a new strategy exploiting its structure. The method is conceptually simple, geometric in nature, and easy to implement, yet it provides solutions at the desired accuracy in short computation times. ; This work was supported by the project 'Planificador de trayectorias para sistemas robotizados de arquitectura arbitraria' (J-00930). ; Peer Reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Multi-loop position analysis via iterated linear programming


    Beteiligte:
    Porta, Josep M. (Autor:in) / Ros, Lluís (Autor:in) / Thomas, Federico (Autor:in)

    Erscheinungsdatum :

    2006-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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

    Porta, Josep M. / Ros, Lluís / Thomas, Federico | BASE | 2008

    Freier Zugriff

    Iterated dynamic programming and quadtree subregioning for fast stereo matching

    Leung, C. / Appleton, B. / Sun, C. | British Library Online Contents | 2008


    Linear prediction image coding using iterated function systems

    Nappi, M. / Vitulano, D. | British Library Online Contents | 1999


    Hierarchical shape fitting using an iterated linear filter

    Baumberg, A. | British Library Online Contents | 1998