DocumentCode :
1153292
Title :
A Linear Relaxation Technique for the Position Analysis of Multiloop Linkages
Author :
Porta, Josep M. ; Ros, Lluís ; Thomas, Federico
Author_Institution :
Inst. de Robot. i Inf. Ind., Univ. Politec. de Catalunya, Barcelona
Volume :
25
Issue :
2
fYear :
2009
fDate :
4/1/2009 12:00:00 AM
Firstpage :
225
Lastpage :
239
Abstract :
This paper presents a new method to isolate all configurations that a multiloop linkage can adopt. The problem is tackled by means of formulation and resolution techniques that fit particularly well together. The adopted formulation yields a system of simple equations (only containing linear, bilinear, and quadratic monomials, and trivial trigonometric terms for the helical pair only) whose structure is later exploited by a branch-and-prune method based on linear relaxations. The method is general, as it can be applied to linkages with single or multiple loops with arbitrary topology, involving lower pairs of any kind, and complete, as all possible solutions get accurately bounded, irrespective of whether the linkage is rigid or mobile.
Keywords :
manipulator kinematics; polynomials; relaxation theory; branch-and-prune method; linear relaxation technique; manipulator kinematics; multiloop linkage; position analysis; topology; Closed chain; forward and inverse kinematics; geometric constraint; loop closure; multibody system; multiloop linkage; position analysis;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2008.2012337
Filename :
4781553
Link To Document :
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