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

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

doi:10.1007/978-3-642-33558-7_62

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

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

^*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ページ	867-882
ページ数	16
巻	7514 LNCS
DOI	https://doi.org/10.1007/978-3-642-33558-7_62
出版ステータス	Published - 2012
イベント	18th International Conference on Principles and Practice of Constraint Programming, CP 2012 - Quebec City, QC 継続期間: 2012 10月 8 → 2012 10月 12

出版物シリーズ

名前	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
巻	7514 LNCS
ISSN（印刷版）	03029743
ISSN（電子版）	16113349

Other

Other	18th International Conference on Principles and Practice of Constraint Programming, CP 2012
City	Quebec City, QC
Period	12/10/8 → 12/10/12

ASJC Scopus subject areas

コンピュータサイエンス（全般）
理論的コンピュータサイエンス

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10.1007/978-3-642-33558-7_62

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引用スタイル

Caro, S., Chablat, D., Goldsztejn, A., Ishii, D., & Jermann, C. (2012). A branch and prune algorithm for the computation of generalized aspects of parallel robots. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7514 LNCS, pp. 867-882). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7514 LNCS). https://doi.org/10.1007/978-3-642-33558-7_62

A branch and prune algorithm for the computation of generalized aspects of parallel robots. / Caro, Stéphane; Chablat, Damien; Goldsztejn, Alexandre その他.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7514 LNCS 2012. p. 867-882 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7514 LNCS).

研究成果: Conference contribution

Caro, S, Chablat, D, Goldsztejn, A, Ishii, D & Jermann, C 2012, A branch and prune algorithm for the computation of generalized aspects of parallel robots. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 7514 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 7514 LNCS, pp. 867-882, 18th International Conference on Principles and Practice of Constraint Programming, CP 2012, Quebec City, QC, 12/10/8. https://doi.org/10.1007/978-3-642-33558-7_62

Caro S, Chablat D, Goldsztejn A, Ishii D, Jermann C. A branch and prune algorithm for the computation of generalized aspects of parallel robots. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7514 LNCS. 2012. p. 867-882. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-33558-7_62

Caro, Stéphane ; Chablat, Damien ; Goldsztejn, Alexandre その他. / A branch and prune algorithm for the computation of generalized aspects of parallel robots. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7514 LNCS 2012. pp. 867-882 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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

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