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Author Castellet, A. ♦ Thomas, F.
Source CiteSeerX
Content type Text
Publisher Kluwer Academic Publishers
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Description . In this paper we describe a general procedure to solve the positional inverse kinematics problem using an interval method. The classical interval Newton method is used together with specific developed interval cuts over the closure equations. The algorithm uses a basic branch-andbound procedure to obtain all solutions of the inverse positional problem of arbitrary single-loop kinematic chains. Some preliminary examples are given, although still much improvement can be done in the heuristics involved and the code optimization, leaving plenty of room for future improvements. 1. Introduction Solving loops of kinematic constraints is a basic requirement when dealing with inverse kinematics, task-level robot programming, assembly planning, or constraint-based modeling problems. This problem is difficult due to its inherent computational complexity (i.e., it is NP-complete) and due to the numerical issues involved to guarantee correctness and to ensure termination. Two basic approaches h...
In Advances In Robot Kinematics, M. Husty and
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 1998-01-01