Constrained motion interpolation for planar open kinematic chains
This paper deals with the problem of motion interpolation of an object as part of planar open kinematic chains. Instead of synthesizing the interpolating motions in the joint space of a planar chain, this paper presents a method for synthesizing smooth motions in the workspace of the chain. The resu...
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| Veröffentlicht in: | Mechanism and machine theory 2010-11, Vol.45 (11), p.1721-1732 |
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| container_title | Mechanism and machine theory |
| container_volume | 45 |
| creator | Jin, Zhe Ge, Q.J. |
| description | This paper deals with the problem of motion interpolation of an object as part of planar open kinematic chains. Instead of synthesizing the interpolating motions in the joint space of a planar chain, this paper presents a method for synthesizing smooth motions in the workspace of the chain. The resulting motions are piecewise rational and therefore more compatible with the existing NURBS based CAD systems. The paper brings together the well-known kinematics of planar two- and three-DOF kinematic chains with revolute and/or prismatic joints and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions. Both
C
1 and
C
2 continuous interpolations are considered. The results have applications in Cartesian motion planning in robotics and task specification for the task driven design of robots and mechanisms. |
| doi_str_mv | 10.1016/j.mechmachtheory.2010.06.003 |
| format | Article |
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C
1 and
C
2 continuous interpolations are considered. The results have applications in Cartesian motion planning in robotics and task specification for the task driven design of robots and mechanisms.</description><identifier>ISSN: 0094-114X</identifier><identifier>EISSN: 1873-3999</identifier><identifier>DOI: 10.1016/j.mechmachtheory.2010.06.003</identifier><identifier>CODEN: MHMTAS</identifier><language>eng</language><publisher>Kidlington: Elsevier Ltd</publisher><subject>Applied sciences ; Computer aided design ; Computer science; control theory; systems ; Constrained motion interpolation ; Constraints ; Control theory. Systems ; Design engineering ; Drives ; Exact sciences and technology ; Interpolation ; Kinematics ; Linkage mechanisms, cams ; Mechanical engineering. Machine design ; Planar kinematic chains ; Rational motions ; Robotics ; Robots ; Specifications ; Tasks</subject><ispartof>Mechanism and machine theory, 2010-11, Vol.45 (11), p.1721-1732</ispartof><rights>2010 Elsevier Ltd</rights><rights>2015 INIST-CNRS</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c393t-6eb3e0ca03e6dc730f1a0ef4bb54ed2632b4553fbf939a53a2e32e4e9915cadc3</citedby><cites>FETCH-LOGICAL-c393t-6eb3e0ca03e6dc730f1a0ef4bb54ed2632b4553fbf939a53a2e32e4e9915cadc3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://dx.doi.org/10.1016/j.mechmachtheory.2010.06.003$$EHTML$$P50$$Gelsevier$$H</linktohtml><link.rule.ids>314,778,782,3539,27907,27908,45978</link.rule.ids><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=23243109$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Jin, Zhe</creatorcontrib><creatorcontrib>Ge, Q.J.</creatorcontrib><title>Constrained motion interpolation for planar open kinematic chains</title><title>Mechanism and machine theory</title><description>This paper deals with the problem of motion interpolation of an object as part of planar open kinematic chains. Instead of synthesizing the interpolating motions in the joint space of a planar chain, this paper presents a method for synthesizing smooth motions in the workspace of the chain. The resulting motions are piecewise rational and therefore more compatible with the existing NURBS based CAD systems. The paper brings together the well-known kinematics of planar two- and three-DOF kinematic chains with revolute and/or prismatic joints and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions. Both
C
1 and
C
2 continuous interpolations are considered. The results have applications in Cartesian motion planning in robotics and task specification for the task driven design of robots and mechanisms.</description><subject>Applied sciences</subject><subject>Computer aided design</subject><subject>Computer science; control theory; systems</subject><subject>Constrained motion interpolation</subject><subject>Constraints</subject><subject>Control theory. Systems</subject><subject>Design engineering</subject><subject>Drives</subject><subject>Exact sciences and technology</subject><subject>Interpolation</subject><subject>Kinematics</subject><subject>Linkage mechanisms, cams</subject><subject>Mechanical engineering. Machine design</subject><subject>Planar kinematic chains</subject><subject>Rational motions</subject><subject>Robotics</subject><subject>Robots</subject><subject>Specifications</subject><subject>Tasks</subject><issn>0094-114X</issn><issn>1873-3999</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2010</creationdate><recordtype>article</recordtype><recordid>eNqNkEFLw0AQhRdRsFb_Qw4KXlJnd5K0C15KsSoUvCh4WzabCd2aZONuKvTfu7VF8OZpGN4382YeY9ccJhx4cbeZtGTWrTbrYU3O7yYCogTFBABP2IjPppiilPKUjQBklnKevZ-zixA2ADDNMxyx-cJ1YfDadlQlrRus6xLbDeR71-ifrnY-6RvdaZ-4nrrkI6JtlExi1nEsXLKzWjeBro51zN6WD6-Lp3T18vi8mK9SgxKHtKASCYwGpKIyU4Saa6A6K8s8o0oUKMosz7Eua4lS56gFoaCMpOS50ZXBMbs97O29-9xSGFRrg6EmnkZuGxQHIWb5dCYhovcH1HgXgqda9d622u8ipPbJqY36m5zaJ6egUDG5OH5zdNLB6Kb2ujM2_O4QKDLkICO3PHAU3_6y5FUwljpDlfVkBlU5-z_Db7aejm4</recordid><startdate>20101101</startdate><enddate>20101101</enddate><creator>Jin, Zhe</creator><creator>Ge, Q.J.</creator><general>Elsevier Ltd</general><general>Elsevier</general><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TA</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>H8D</scope><scope>JG9</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>20101101</creationdate><title>Constrained motion interpolation for planar open kinematic chains</title><author>Jin, Zhe ; Ge, Q.J.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c393t-6eb3e0ca03e6dc730f1a0ef4bb54ed2632b4553fbf939a53a2e32e4e9915cadc3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Applied sciences</topic><topic>Computer aided design</topic><topic>Computer science; control theory; systems</topic><topic>Constrained motion interpolation</topic><topic>Constraints</topic><topic>Control theory. Systems</topic><topic>Design engineering</topic><topic>Drives</topic><topic>Exact sciences and technology</topic><topic>Interpolation</topic><topic>Kinematics</topic><topic>Linkage mechanisms, cams</topic><topic>Mechanical engineering. Machine design</topic><topic>Planar kinematic chains</topic><topic>Rational motions</topic><topic>Robotics</topic><topic>Robots</topic><topic>Specifications</topic><topic>Tasks</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Jin, Zhe</creatorcontrib><creatorcontrib>Ge, Q.J.</creatorcontrib><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Materials Business File</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Aerospace Database</collection><collection>Materials Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Mechanism and machine theory</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Jin, Zhe</au><au>Ge, Q.J.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Constrained motion interpolation for planar open kinematic chains</atitle><jtitle>Mechanism and machine theory</jtitle><date>2010-11-01</date><risdate>2010</risdate><volume>45</volume><issue>11</issue><spage>1721</spage><epage>1732</epage><pages>1721-1732</pages><issn>0094-114X</issn><eissn>1873-3999</eissn><coden>MHMTAS</coden><abstract>This paper deals with the problem of motion interpolation of an object as part of planar open kinematic chains. Instead of synthesizing the interpolating motions in the joint space of a planar chain, this paper presents a method for synthesizing smooth motions in the workspace of the chain. The resulting motions are piecewise rational and therefore more compatible with the existing NURBS based CAD systems. The paper brings together the well-known kinematics of planar two- and three-DOF kinematic chains with revolute and/or prismatic joints and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions. Both
C
1 and
C
2 continuous interpolations are considered. The results have applications in Cartesian motion planning in robotics and task specification for the task driven design of robots and mechanisms.</abstract><cop>Kidlington</cop><pub>Elsevier Ltd</pub><doi>10.1016/j.mechmachtheory.2010.06.003</doi><tpages>12</tpages></addata></record> |
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| ispartof | Mechanism and machine theory, 2010-11, Vol.45 (11), p.1721-1732 |
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| language | eng |
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| source | Elsevier ScienceDirect Journals |
| subjects | Applied sciences Computer aided design Computer science control theory systems Constrained motion interpolation Constraints Control theory. Systems Design engineering Drives Exact sciences and technology Interpolation Kinematics Linkage mechanisms, cams Mechanical engineering. Machine design Planar kinematic chains Rational motions Robotics Robots Specifications Tasks |
| title | Constrained motion interpolation for planar open kinematic chains |
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