Presentado al 12th World Congress in Mechanism and Machine Science(IFToMM) celebrado en 2007 en Besançon (Francia). ; This paper presents an interval propagation algorithm for variables in single-loop linkages. Given allowed intervals of values for all variables, the algorithm provides, for every variable, the exact interval of values for which the linkage can actually be assembled. We show further how this algorithm can be integrated in a branch-and bound search scheme, in order to solve the position analysis of general multi-loop linkages. Experimental results are included, comparing the method’s performance with that of previous techniques given for the same task. ; This work was supported by the project 'Planificador de trayectorias para sistemas robotizados de arquitectura arbitraria' (J-00930). ; This work has been partially supported by the Spanish Ministry of Education and Science through the I+D project DPI2004-07358, by the CTP under project 2006ITT-10004, and by I3 program funds supporting the third author. ; Peer Reviewed
Exact interval propagation for the efficient solution of planar linkages
2007-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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