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Numerical Verification and Validation of Kinematics and Dynamical Models for Flexible Robots in Complex Environments

  • Wolfram Luther
  • Eva Dyllong
  • Daniela Fausten
  • Werner Otten
  • Holger Traczinski

Abstract

We give a survey on well-known and new interval methods and algorithms with result verification in the field of robotics. In particular we present optimal linear controller design, reliable geometric computations for distances between a point and a non-convex polyhedron or a NURBS curve, path planning, and failure detection with fault tree logic for flexible robots in complex environments. We also present an extension of a multi body modelling and simulating tool, which provides error propagation control and reliable numerical algorithms.

Keywords

Failure Probability Path Planning Interval Arithmetic Fault Tree Multi Body System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Wien 2001

Authors and Affiliations

  • Wolfram Luther
    • 1
  • Eva Dyllong
    • 1
  • Daniela Fausten
    • 1
  • Werner Otten
    • 1
  • Holger Traczinski
    • 1
  1. 1.Gerhard-Mercator-University of DuisburgDuisburgGermany

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