Publication

Position analysis of spherical linkages via angle-bound smoothing

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2017

File

Download the digital copy of the doc pdf document

Abstract

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.

Categories

robots.

Author keywords

Angular Constraints, Spherical Linkages

Scientific reference

J.M. Porta and F. Thomas. Position analysis of spherical linkages via angle-bound smoothing, 2017 IEEE International Conference on Robotics and Automation, 2017, Singapore, to appear.