Exact interval propagation for the efficient solution of position analysis problems on planar linkages

被引：5

作者：

Celaya, Enric ^{[1
]}

Creemers, Tom ^{[1
]}

Ros, Lluis ^{[1
]}

机构：

[1] Inst Robot & Informat Ind CSIC UPC, Barcelona 08028, Spain

来源：

MECHANISM AND MACHINE THEORY | 2012年 / 54卷

关键词：

Interval propagation; Planar linkages; Box approximation; Loop equation; Position analysis; Forward and inverse kinematics; KINEMATICS;

D O I：

10.1016/j.mechmachtheory.2012.03.005

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents an interval propagation algorithm for variables in planar single-loop linkages. Given intervals of allowed values for all variables, the algorithm provides, for every variable, the whole set of values, without overestimation, for which the linkage can actually be assembled. We show further how this algorithm can be integrated in a branch-and-prune search scheme, in order to solve the position analysis of general planar multi-loop linkages. Experimental results are included, comparing the method's performance with that of previous techniques given for the same task. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：116 / 131

页数：16

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