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

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

    研究成果: Conference contribution

    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
    7514 LNCS
    DOI
    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 82012 10 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)
    7514 LNCS
    ISSN(印刷版)03029743
    ISSN(電子版)16113349

    Other

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

    ASJC Scopus subject areas

    • Computer Science(all)
    • Theoretical Computer Science

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