A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2012; you can also visit the original URL.
The file type is application/pdf.
Filters
Complete Path Planning for Closed Kinematic Chains with Spherical Joints
2002
The international journal of robotics research
Preserved Fulltext
We study the path planning problem, without obstacles, for closed kinematic chains with n links connected by spherical joints in space or revolute joints in the plane. ...
Despite these concerns, the global structural information obtained in this paper is fundamental to closed kinematic chains with spherical joints and can easily be incorporated into probabilistic planning ...
Xavier for his contributions to the proof of algorithmic completeness. The research described in this paper was supported by the Research Foundations Program at Sandia National Laboratories. ...
doi:10.1177/0278364902021009119
fatcat:6sgcmpjkbbd2jgjoye55c2mbf4
Complete Path Planning for Closed Kinematic Chains with Spherical Joints
2002
The international journal of robotics research
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2012; you can also visit the original URL.
The file type is application/pdf.
We study the path planning problem, without obstacles, for closed kinematic chains with n links connected by spherical joints in space or revolute joints in the plane. ...
Despite these concerns, the global structural information obtained in this paper is fundamental to closed kinematic chains with spherical joints and can easily be incorporated into probabilistic planning ...
Xavier for his contributions to the proof of algorithmic completeness. The research described in this paper was supported by the Research Foundations Program at Sandia National Laboratories. ...
doi:10.1177/027836402128964639
fatcat:cnmsbkgbx5fdbnnzo5gv7rr3hm
Hybrid probabilistic RoadMap - Monte Carlo motion planning for closed chain systems with spherical joints
2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2008; you can also visit the original URL.
The file type is application/pdf.
We apply the PRM-MC approach to closed chain motion planning in this paper. Our current planner uses rotation pivots as attempted Monte Carlo moves for 3D closed chains with spherical joints. ...
Our simulation results show that the PRM-MC closed chain planner can build roadmaps with good connectivity and efficiently generate selfcollision-free closure configurations for closed chain systems with ...
for 2D closed chains with revolute joints and 3D closed chains with spherical joints. ...
doi:10.1109/robot.2004.1307267
dblp:conf/icra/Han04
fatcat:lxkowotf6zfjvgakf2wdj45lii
Sampling-based motion planning with reachable volumes: Theoretical foundations
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2014; you can also visit the original URL.
The file type is application/pdf.
We present visualizations of reachable volumes for representative robots including closed chains and graspers as well as for examples with joint and end effector constraints. ...
Unlike previous methods, reachable volumes work for spherical and prismatic joints as well as planar joints. ...
Cortés et. al. developed a sampling method for closed chain linkages with kinematic constraints [2] . It is shown to be faster than previous kinematics-based sampling methods. ...
doi:10.1109/icra.2014.6907820
dblp:conf/icra/McMahonTA14
fatcat:egqbuqe72fh6vchqy5fx37zm4e
Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints
[chapter]
2005
Springer Tracts in Advanced Robotics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Kinematic loop-closure constraints significantly increase the difficulty of motion planning for articulated mechanisms. ...
In general, they are grouped into several subsets with complex and a priori unknown topology. Sampling-based motion planning algorithms cannot be directly applied to such closed-chain systems. ...
Complex articulated mechanisms with closed kinematic chains appear in all the domains where motion planning techniques can be applied. ...
doi:10.1007/10991541_7
fatcat:rbtc5wqgebghrgy5simxgppblm
Inverse Kinematics for a Serial Chain with Fully Rotatable Joints
2006
Robotics: Science and Systems II
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
In this paper, we study IK for a serial chain with joints under distance constraints, in particular, either a spatial chain with spherical joints, or a planar chain with revolute joints (in this paper ...
It follows that the IK problem for such a chain with an arbitrary number of joints can be done efficiently in many ways. ...
ACKNOWLEDGMENT The authors thank the anonymous reviewers for their helpful comments. ...
doi:10.15607/rss.2006.ii.023
dblp:conf/rss/HanR06
fatcat:5xvyp2q35ne33ichn3zi7wbdru
Animation planning for virtual characters cooperation
2006
ACM Transactions on Graphics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
The different techniques used, such as probabilistic path planning, locomotion controllers, inverse kinematics and path planning for closed kinematic chains are explained, and the way to integrate them ...
This decomposition enables us to plan a collision-free path for a reduced system, then to animate locomotion and grasping behaviors independently, and finally to automatically tune the animation to avoid ...
ACKNOWLEDGMENTS We thank Juan Cortés for his help on the implementation of the RLG algorithm. ...
doi:10.1145/1138450.1138457
fatcat:egrderrs2fd5hcsgabgqvuvkby
Animation planning for virtual characters cooperation
2008
ACM SIGGRAPH 2008 classes on - SIGGRAPH '08
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
The different techniques used, such as probabilistic path planning, locomotion controllers, inverse kinematics and path planning for closed kinematic chains are explained, and the way to integrate them ...
This decomposition enables us to plan a collision-free path for a reduced system, then to animate locomotion and grasping behaviors independently, and finally to automatically tune the animation to avoid ...
ACKNOWLEDGMENTS We thank Juan Cortés for his help on the implementation of the RLG algorithm. ...
doi:10.1145/1401132.1401204
dblp:conf/siggraph/EstevesAPL08
fatcat:yjebv47e7batpa6bgudlq3flua
A Topologist's View of Kinematic Maps and Manipulation Complexity
[article]
2017
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
of joints with the pose of the end-effector of the device. ...
We explain how to compute the dimension of the joint space and describe topological obstructions for a kinematic map to be a fibration or to admit a continuous section. ...
For example, in a (SPS) configuration, with a prismatic joint between two spherical joints, a rotation of one spherical joint is transmitted to an equivalent rotation of the other spherical joint. ...
arXiv:1707.03899v1
fatcat:2pecxw3wgfbcvfelxmgxkvps6u
Motion planning in Irreducible Path Spaces
2018
Robotics and Autonomous Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
In part II, we construct an approximation to the irreducible path space of a serial kinematic chain under certain assumptions. ...
In part III, we conduct motion planning using the irreducible path space for a mechanical snake in a turbine environment, for a mechanical octopus with eight arms in a pipe system and for the sideways ...
The proof for 3D robots with spherical joints and arbitrary lengths is subject of future research. ...
doi:10.1016/j.robot.2018.08.012
fatcat:tyynsc4afnbpbm5r2c3erpit7i
Motion Planning in Irreducible Path Spaces
[article]
2018
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
In part II, we construct an approximation to the irreducible path space of a serial kinematic chain under certain assumptions. ...
In part III, we conduct motion planning using the irreducible path space for a mechanical snake in a turbine environment, for a mechanical octopus with eight arms in a pipe system and for the sideways ...
The proof for 3D robots with spherical joints and arbitrary lengths is subject of future research. ...
arXiv:1809.05322v1
fatcat:nk3pu3wi75ebnc5u6anwbqfepq
Sample-based motion planning for robot manipulators with closed kinematic chains
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Random sampling-based methods for motion planning of constrained robot manipulators has been widely studied in recent years. ...
The relaxed constraint is then used in a state-of-the-art sub-optimal random sampling based technique to generate any-time paths for constrained robot manipulators. ...
has to maintain a desired orientation over the whole planned path, [14] , and 3) close kinematic chains for cooperative robots or parallel manipulators [15] . ...
doi:10.1109/icra.2015.7139537
dblp:conf/icra/BonillaFPB15
fatcat:b7oadjea6zacxihvrisvlzrouu
Design and Analysis of Collaborative Automated Fiber Placement Machine
2016
International Journal of Advanced Robotics and Automation
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
But most AFP machines are designed for the manufacture of airframe components, which are usually shallow shells or tubes, and are not capable of handling some applications with more complex shapes. ...
However, for the 6-RSS parallel manipulator, the forward kinematics poses a challenge due to the unique structure of fully parallel and closed kinematic chains. ...
Each connecting chain is composed of one horizontal revolute joint mounted on the base and two spherical joints. ...
doi:10.15226/2473-3032/1/1/00105
fatcat:pjmm6m7plfdtdistgi4qiex6h4
Motion planning of a climbing parallel robot
2003
IEEE Transactions on Robotics and Automation
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedom parallel robot is described, based on spatial constraint formulation. ...
This paper proposes a novel application of the Stewart-Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such ...
First of all, the inverse kinematics problem is easily solved for robots with closed kinematics chains, and after that, we solved the forward kinematics problem, which turns out to be far more complex. ...
doi:10.1109/tra.2003.810238
fatcat:bckkf5axdrbfbfadq2tegatyi4
Optimal path crossing the orientation exclusion zone of a robot with offset wrist
2021
Robotica (Cambridge. Print)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
An unexpected path reversal is discovered for a serial robot with an offset-axis wrist over a finite range of proximity to the wrist singularity. This is replicated by a kinematic model. ...
A prior spherical-wrist method transits the singularity with limited joint rate and acceleration under a constant rate of tool traversal. ...
Organization of the paper Section 2 reviews the extension of a 6-axis robot with virtual joints. The complete 9-joint closed-loop kinematic model of the robot gives its desired tool motion. ...
doi:10.1017/s0263574721000461
fatcat:dtgkhzvpwrccxigvehkadjlmoi
« Previous
Showing results 1 — 15 out of 2,452 results