A branch and prune algorithm for the computation of generalized aspects of parallel robots

Stéphane Caro, Damien Chablat, Alexandre Goldsztejn, Daisuke Ishii, Christophe Jermann

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Parallel robots enjoy enhanced mechanical characteristics that have to be contrasted with a more complicated design. In particular, they often have parallel singularities at some poses, and the robot may become uncontrollable, and could even be damaged, in such configurations. The computation of singularity free sets of reachable poses, called generalized aspects, is therefore a key issue in their design. A new methodology based on numerical constraint programming is proposed to compute a certified enclosure of such generalized aspects which fully automatically applies to arbitrary robot kinematic model.

    Original languageEnglish
    Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Pages867-882
    Number of pages16
    Volume7514 LNCS
    DOIs
    Publication statusPublished - 2012
    Event18th International Conference on Principles and Practice of Constraint Programming, CP 2012 - Quebec City, QC
    Duration: 2012 Oct 82012 Oct 12

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume7514 LNCS
    ISSN (Print)03029743
    ISSN (Electronic)16113349

    Other

    Other18th International Conference on Principles and Practice of Constraint Programming, CP 2012
    CityQuebec City, QC
    Period12/10/812/10/12

    Keywords

    • aspects
    • Numerical constraints
    • parallel robots
    • singularities

    ASJC Scopus subject areas

    • Computer Science(all)
    • Theoretical Computer Science

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