Higher-order continuation for the determination of robot workspace boundaries
| Autor: | Gauthier Hentz, Pierre Renaud, Isabelle Charpentier |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Computer science Automatic differentiation Strategy and Management 010103 numerical & computational mathematics 02 engineering and technology Workspace 01 natural sciences Computer Science::Robotics Séries de Taylor Continuation symbols.namesake 020901 industrial engineering & automation Materials Science(all) Order (exchange) SAFER Extended system of equations Mechanisms Taylor series Media Technology Système d'équations étendu General Materials Science 0101 mathematics Marketing business.industry Frontières de l'espace de travail Robotics Control engineering Mechanism (engineering) Mechanics of Materials Workspace boundaries symbols Mécanismes Différentiation Automatique Artificial intelligence business Diamant Algorithm |
| Zdroj: | Comptes Rendus Mécanique. 344(2):95-101 |
| ISSN: | 1631-0721 |
| DOI: | 10.1016/j.crme.2015.10.001 |
| Popis: | In the medical and surgical fields, robotics may be of great interest for safer and more accurate procedures. Space constraints for a robotic assistant are however strict. Therefore, roboticists study non-conventional mechanisms with advantageous size/workspace ratios. The determination of mechanism workspace, and primarily its boundaries, is thus of major importance. This Note builds on boundary equation definition, continuation and automatic differentiation to propose a general, accurate, fast and automated method for the determination of mechanism workspace. The method is illustrated with a planar RRR mechanism and a three-dimensional Orthoglide parallel mechanism. |
| Databáze: | OpenAIRE |
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