Trajectory Planning for Closed Kinematic Chains Applied to Cooperative Motions in Health Care
نویسندگان
چکیده
منابع مشابه
A Random Loop Generator for Planning the Motions of Closed Kinematic Chains using PRM Methods
Closed kinematic chains in mechanical systems represent a challenge for their motion analysis, and therefore, for path planning. Closed mechanisms appear in different areas where path planning algorithms are applied. We propose a method to handle them within Probabilistic RoadMap (PRM) techniques. This method is an extension of the approach proposed in [5]. Our main contribution concerns the ge...
متن کاملRandomized path planning for linkages with closed kinematic chains
951 planning problem, with proven features as long as the tracking is good enough, and one tracking problem. The tracking problem is solved for a class of nonholonomic robots of the unicycle type, and we illustrate the soundness of our method by applying it to rigid body constrained motions. ACKNOWLEDGMENT The authors would like to thank the three anonymous reviewers for their insightful commen...
متن کاملComplete Path Planning for Closed Kinematic Chains with Spherical Joints
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. The configuration space of such systems is a real algebraic variety whose structure is fully determined using techniques from algebraic geometry and differential topology. This structure is then exploited to design a complete pat...
متن کاملManipulability of Closed Kinematic Chains
This paper presents a coordinate-invariant differential geometric analysis of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredundant mechanisms, as well as over-actuated and exactly actuated ones, in a uniform manner. Dynamic characteristics of the mechanism and manipulated object can also be naturally included by ...
متن کاملForce distribution in closed kinematic chains
The problem of force distribution in systems involving multiple frictional contacts between actively coordinated mechanisms and passive objects is examined. The special case in which the contact interaction can he modeled by three components of forces (zero moments) is particularly interesting. The Moore-Penrose Generalized Inverse solution for such a model (point contact) is shown to yield a s...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: PAMM
سال: 2021
ISSN: 1617-7061,1617-7061
DOI: 10.1002/pamm.202000324