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Qualitative analysis of task kinematics for compliant motion planning

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2 Author(s)
Liu, J. ; McGill Univ., Montreal, Que., Canada ; Daneshmend, L.K.

A qualitative geometric reasoning approach to the analysis of robot task kinematics is presented. Qualitative geometric reasoning refers to the process of deriving a solution based on a set of geometric rules in which the concepts are described in terms of symbolic qualitative values and partial-ordering relations. The qualitative kinematic analysis scheme permits computationally efficient approximate solutions of kinematic problems without using exact information on the geometry of mechanisms under consideration, and provides a basis for the functional simulation of mechanisms

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991