Abstract
A multi-loop linkage can be viewed as a graph of kinematic constraints, and its solution entails finding joint configurations satisfying all constraints simultaneously. In this paper, a general algorithm to obtain all solution configurations is presented. Each loop provides a matrix equation in homogeneous coordinates, which is handled as a constraint on the involved joint variables. The algorithm uses one constraint at a time to reduce the valid ranges for variables, by iteratively applying two simple geometric operations: segment-trapezoid and circle-rectangle clippings. The obtained experimental results qualify this approach as a valuable alternative to other interval-based strategies.
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References
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© 2002 Springer Science+Business Media Dordrecht
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Porta, J.M., Ros, L., Thomas, F., Torras, C. (2002). Solving Multi-Loop Linkages by Iterating 2D Clippings. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_27
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DOI: https://doi.org/10.1007/978-94-017-0657-5_27
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
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