Visualization of Dual-Arm Robot Motion Space Under Kinematic Constraints
This article presents a technique for determining and visual izing the geometric motion capabilities of dual-arm robotic systems when the arms work on an object in a closed kine matic chain configuration, taking account of robot arms' base placements, object dimensions, object holding and conta...
Gespeichert in:
| Veröffentlicht in: | The International journal of robotics research 1995-02, Vol.14 (1), p.9-18 |
|---|---|
| Hauptverfasser: | , , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 18 |
|---|---|
| container_issue | 1 |
| container_start_page | 9 |
| container_title | The International journal of robotics research |
| container_volume | 14 |
| creator | Tarn, T.J. De, P.K. Bejczy, A.K. Li, Z. |
| description | This article presents a technique for determining and visual izing the geometric motion capabilities of dual-arm robotic systems when the arms work on an object in a closed kine matic chain configuration, taking account of robot arms' base placements, object dimensions, object holding and contact constraints, and space occupancy conflicts of the two arms' links. The constrained and object orientation restricted motion space in general can be visualized as a complex 3D object with hidden unreachable holes or cavities of varying shapes. An automated visualization methodology is presented together with its graphical implementation, illustrated by an example. The methodology is an inverse computer vision technique in the sense that it creates rather than recognizes visual forms. |
| doi_str_mv | 10.1177/027836499501400102 |
| format | Article |
| fullrecord | <record><control><sourceid>sage_osti_</sourceid><recordid>TN_cdi_osti_scitechconnect_6570364</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sage_id>10.1177_027836499501400102</sage_id><sourcerecordid>10.1177_027836499501400102</sourcerecordid><originalsourceid>FETCH-LOGICAL-c341t-34a95800863a2ce1c40bd810e3dbee9a5836ef443015be4cff611c82ce6b97703</originalsourceid><addsrcrecordid>eNp9kMFKAzEQhoMoWKsv4GkRr2tnNtns7rFUa8WKoNbrkk0TTWmTkqQHfXpTV7wInoZhvu-H-Qk5R7hCrKoRFFVNOWuaEpABIBQHZIAVw5xixQ_JYA_ke-KYnISwAgDKoRmQ2asJO7E2nyIaZzOns-u05mO_yZ5c52L24L4Pz1shVbawS-Wze2PVJvEymzgbohfGxnBKjrRYB3X2M4dkMb15mczy-ePt3WQ8zyVlGHPKRFPWADWnopAKJYNuWSMouuyUakSZ3lCaMQpYdopJrTmirBPKu6aqgA7JRZ_rQjRtkCYq-S6dtUrGlpeJ4CxBRQ9J70LwSrdbbzbCf7QI7b6w9m9hSbrspa0IUqy1F1aa8GtSloKTNCSjHgviTbUrt_M2_ftf8BdzwXax</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype></control><display><type>article</type><title>Visualization of Dual-Arm Robot Motion Space Under Kinematic Constraints</title><source>SAGE Complete A-Z List</source><creator>Tarn, T.J. ; De, P.K. ; Bejczy, A.K. ; Li, Z.</creator><creatorcontrib>Tarn, T.J. ; De, P.K. ; Bejczy, A.K. ; Li, Z.</creatorcontrib><description>This article presents a technique for determining and visual izing the geometric motion capabilities of dual-arm robotic systems when the arms work on an object in a closed kine matic chain configuration, taking account of robot arms' base placements, object dimensions, object holding and contact constraints, and space occupancy conflicts of the two arms' links. The constrained and object orientation restricted motion space in general can be visualized as a complex 3D object with hidden unreachable holes or cavities of varying shapes. An automated visualization methodology is presented together with its graphical implementation, illustrated by an example. The methodology is an inverse computer vision technique in the sense that it creates rather than recognizes visual forms.</description><identifier>ISSN: 0278-3649</identifier><identifier>EISSN: 1741-3176</identifier><identifier>DOI: 10.1177/027836499501400102</identifier><identifier>CODEN: IJRREL</identifier><language>eng</language><publisher>Thousand Oaks, CA: Sage Publications</publisher><subject>320303 - Energy Conservation, Consumption, & Utilization- Industrial & Agricultural Processes- Equipment & Processes ; 990200 - Mathematics & Computers ; Applied sciences ; ARMS ; AUTOMATION ; BODY ; BODY AREAS ; COMPUTER GRAPHICS ; Computer science; control theory; systems ; Control theory. Systems ; ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION ; Exact sciences and technology ; GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE ; LIMBS ; MATERIALS HANDLING EQUIPMENT ; MATHEMATICAL MODELS ; MECHANICS ; MOTION ; Robotics ; ROBOTS ; VISION</subject><ispartof>The International journal of robotics research, 1995-02, Vol.14 (1), p.9-18</ispartof><rights>1995 INIST-CNRS</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c341t-34a95800863a2ce1c40bd810e3dbee9a5836ef443015be4cff611c82ce6b97703</citedby><cites>FETCH-LOGICAL-c341t-34a95800863a2ce1c40bd810e3dbee9a5836ef443015be4cff611c82ce6b97703</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://journals.sagepub.com/doi/pdf/10.1177/027836499501400102$$EPDF$$P50$$Gsage$$H</linktopdf><linktohtml>$$Uhttps://journals.sagepub.com/doi/10.1177/027836499501400102$$EHTML$$P50$$Gsage$$H</linktohtml><link.rule.ids>230,314,780,784,885,21818,27923,27924,43620,43621</link.rule.ids><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=3464378$$DView record in Pascal Francis$$Hfree_for_read</backlink><backlink>$$Uhttps://www.osti.gov/biblio/6570364$$D View this record in Osti.gov$$Hfree_for_read</backlink></links><search><creatorcontrib>Tarn, T.J.</creatorcontrib><creatorcontrib>De, P.K.</creatorcontrib><creatorcontrib>Bejczy, A.K.</creatorcontrib><creatorcontrib>Li, Z.</creatorcontrib><title>Visualization of Dual-Arm Robot Motion Space Under Kinematic Constraints</title><title>The International journal of robotics research</title><description>This article presents a technique for determining and visual izing the geometric motion capabilities of dual-arm robotic systems when the arms work on an object in a closed kine matic chain configuration, taking account of robot arms' base placements, object dimensions, object holding and contact constraints, and space occupancy conflicts of the two arms' links. The constrained and object orientation restricted motion space in general can be visualized as a complex 3D object with hidden unreachable holes or cavities of varying shapes. An automated visualization methodology is presented together with its graphical implementation, illustrated by an example. The methodology is an inverse computer vision technique in the sense that it creates rather than recognizes visual forms.</description><subject>320303 - Energy Conservation, Consumption, & Utilization- Industrial & Agricultural Processes- Equipment & Processes</subject><subject>990200 - Mathematics & Computers</subject><subject>Applied sciences</subject><subject>ARMS</subject><subject>AUTOMATION</subject><subject>BODY</subject><subject>BODY AREAS</subject><subject>COMPUTER GRAPHICS</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION</subject><subject>Exact sciences and technology</subject><subject>GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE</subject><subject>LIMBS</subject><subject>MATERIALS HANDLING EQUIPMENT</subject><subject>MATHEMATICAL MODELS</subject><subject>MECHANICS</subject><subject>MOTION</subject><subject>Robotics</subject><subject>ROBOTS</subject><subject>VISION</subject><issn>0278-3649</issn><issn>1741-3176</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>1995</creationdate><recordtype>article</recordtype><recordid>eNp9kMFKAzEQhoMoWKsv4GkRr2tnNtns7rFUa8WKoNbrkk0TTWmTkqQHfXpTV7wInoZhvu-H-Qk5R7hCrKoRFFVNOWuaEpABIBQHZIAVw5xixQ_JYA_ke-KYnISwAgDKoRmQ2asJO7E2nyIaZzOns-u05mO_yZ5c52L24L4Pz1shVbawS-Wze2PVJvEymzgbohfGxnBKjrRYB3X2M4dkMb15mczy-ePt3WQ8zyVlGHPKRFPWADWnopAKJYNuWSMouuyUakSZ3lCaMQpYdopJrTmirBPKu6aqgA7JRZ_rQjRtkCYq-S6dtUrGlpeJ4CxBRQ9J70LwSrdbbzbCf7QI7b6w9m9hSbrspa0IUqy1F1aa8GtSloKTNCSjHgviTbUrt_M2_ftf8BdzwXax</recordid><startdate>19950201</startdate><enddate>19950201</enddate><creator>Tarn, T.J.</creator><creator>De, P.K.</creator><creator>Bejczy, A.K.</creator><creator>Li, Z.</creator><general>Sage Publications</general><general>Sage Science</general><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>OTOTI</scope></search><sort><creationdate>19950201</creationdate><title>Visualization of Dual-Arm Robot Motion Space Under Kinematic Constraints</title><author>Tarn, T.J. ; De, P.K. ; Bejczy, A.K. ; Li, Z.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c341t-34a95800863a2ce1c40bd810e3dbee9a5836ef443015be4cff611c82ce6b97703</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>1995</creationdate><topic>320303 - Energy Conservation, Consumption, & Utilization- Industrial & Agricultural Processes- Equipment & Processes</topic><topic>990200 - Mathematics & Computers</topic><topic>Applied sciences</topic><topic>ARMS</topic><topic>AUTOMATION</topic><topic>BODY</topic><topic>BODY AREAS</topic><topic>COMPUTER GRAPHICS</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION</topic><topic>Exact sciences and technology</topic><topic>GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE</topic><topic>LIMBS</topic><topic>MATERIALS HANDLING EQUIPMENT</topic><topic>MATHEMATICAL MODELS</topic><topic>MECHANICS</topic><topic>MOTION</topic><topic>Robotics</topic><topic>ROBOTS</topic><topic>VISION</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Tarn, T.J.</creatorcontrib><creatorcontrib>De, P.K.</creatorcontrib><creatorcontrib>Bejczy, A.K.</creatorcontrib><creatorcontrib>Li, Z.</creatorcontrib><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>OSTI.GOV</collection><jtitle>The International journal of robotics research</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Tarn, T.J.</au><au>De, P.K.</au><au>Bejczy, A.K.</au><au>Li, Z.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Visualization of Dual-Arm Robot Motion Space Under Kinematic Constraints</atitle><jtitle>The International journal of robotics research</jtitle><date>1995-02-01</date><risdate>1995</risdate><volume>14</volume><issue>1</issue><spage>9</spage><epage>18</epage><pages>9-18</pages><issn>0278-3649</issn><eissn>1741-3176</eissn><coden>IJRREL</coden><abstract>This article presents a technique for determining and visual izing the geometric motion capabilities of dual-arm robotic systems when the arms work on an object in a closed kine matic chain configuration, taking account of robot arms' base placements, object dimensions, object holding and contact constraints, and space occupancy conflicts of the two arms' links. The constrained and object orientation restricted motion space in general can be visualized as a complex 3D object with hidden unreachable holes or cavities of varying shapes. An automated visualization methodology is presented together with its graphical implementation, illustrated by an example. The methodology is an inverse computer vision technique in the sense that it creates rather than recognizes visual forms.</abstract><cop>Thousand Oaks, CA</cop><pub>Sage Publications</pub><doi>10.1177/027836499501400102</doi><tpages>10</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0278-3649 |
| ispartof | The International journal of robotics research, 1995-02, Vol.14 (1), p.9-18 |
| issn | 0278-3649 1741-3176 |
| language | eng |
| recordid | cdi_osti_scitechconnect_6570364 |
| source | SAGE Complete A-Z List |
| subjects | 320303 - Energy Conservation, Consumption, & Utilization- Industrial & Agricultural Processes- Equipment & Processes 990200 - Mathematics & Computers Applied sciences ARMS AUTOMATION BODY BODY AREAS COMPUTER GRAPHICS Computer science control theory systems Control theory. Systems ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION Exact sciences and technology GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE LIMBS MATERIALS HANDLING EQUIPMENT MATHEMATICAL MODELS MECHANICS MOTION Robotics ROBOTS VISION |
| title | Visualization of Dual-Arm Robot Motion Space Under Kinematic Constraints |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-09T01%3A37%3A24IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-sage_osti_&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Visualization%20of%20Dual-Arm%20Robot%20Motion%20Space%20Under%20Kinematic%20Constraints&rft.jtitle=The%20International%20journal%20of%20robotics%20research&rft.au=Tarn,%20T.J.&rft.date=1995-02-01&rft.volume=14&rft.issue=1&rft.spage=9&rft.epage=18&rft.pages=9-18&rft.issn=0278-3649&rft.eissn=1741-3176&rft.coden=IJRREL&rft_id=info:doi/10.1177/027836499501400102&rft_dat=%3Csage_osti_%3E10.1177_027836499501400102%3C/sage_osti_%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_sage_id=10.1177_027836499501400102&rfr_iscdi=true |