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Complete Path Planning for Closed Kinematic Chains with Spherical Joints

J.C. Trinkle, R. James Milgram
2002 The international journal of robotics research  
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

Jeff Trinkle, R James Milgram
2002 The international journal of robotics research  
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

Li Han
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
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

Troy McMahon, Shawna Thomas, Nancy M. Amato
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
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]

Juan Cortés, Thierry Siméon
2005 Springer Tracts in Advanced Robotics  
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

L. Han, L. Rudolph
2006 Robotics: Science and Systems II  
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

Claudia Esteves, Gustavo Arechavaleta, Julien Pettré, Jean-Paul Laumond
2006 ACM Transactions on Graphics  
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

Claudia Esteves, Gustavo Arechavaleta, Julien Pettré, Jean-Paul Laumond
2008 ACM SIGGRAPH 2008 classes on - SIGGRAPH '08  
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]

Petar Pavešić
2017 arXiv   pre-print
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

Andreas Orthey, Olivier Roussel, Olivier Stasse, Michel Taïx
2018 Robotics and Autonomous Systems  
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]

Andreas Orthey, Olivier Stasse
2018 arXiv   pre-print
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

M. Bonilla, E. Farnioli, L. Pallottino, A. Bicchi
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
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

Wenfang Xie
2016 International Journal of Advanced Robotics and Automation  
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

M. Almonacid, R.J. Saltaren, R. Aracil, O. Reinoso
2003 IEEE Transactions on Robotics and Automation  
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

Paul Milenkovic
2021 Robotica (Cambridge. Print)  
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
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