Trabajo presentado en la 5th IFToMM Asian Conference on Mechanism and Machine Science, celebrada en Bengaluru (India), del 17 al 19 de diciembre de 2018 ; Distance-bound smoothing is a method to characterize point configurations satisfying a given set of constraints on the pairwise ranges of distances. This technique essentially consists in the iterative application of a set of algebraic conditions to reduce the given initial distance ranges. Although originally developed in a Computational Chemistry context, it has successfully been applied to problems of planar point configurations arising in Robotics, which includes the position analysis of planar robots. In this paper, this technique is generalized to deal with points on a sphere so that the planar case can now be deduced from the one presented here as a limit case. To exemplify the interest of this technique, it is applied to solve the position analysis of multiloop spherical linkages ; This work has been partially supported by the Spanish Ministry of Economy and Competitiveness through projects DPI2014-57220-C2-2-P, DPI2017-88282-P, and MDM-2016-0656. ; Peer reviewed
Angle-bound smoothing with applications in kinematics
2018-12-17
Conference paper
Electronic Resource
English
DDC: | 629 |
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