Constraint Jacobians for Constant Time Inverse Kinematics and Assembly Optimization
نویسنده
چکیده
An algorithm for the constant time solution of systems of geometric constraint equations is presented in this work Constraint equations and their Jacobians may be used in conjunction with other numerical methods to solve for a variety of kinematics dynamics and assembly optimization problems The use of constraint equations for these purpose is an under utilized method in this area The use of quaternions for coordinates in these constraint equations is shown to be a key choice in the optimization problem for avoiding local minima
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تاریخ انتشار 1998