PuzzleFlex: 緩い関節でつながれた鎖のキネマティック運動
PuzzleFlex: kinematic motion of chains with loose joints
緩い関節で接続された剛体の平面集合の自由運動を、局所距離制約の線形計画法で計算する手法を提案し、数千体の剛体解析を可能にした。
著者: Samuel Lensgraf, Karim Itani, Yinan Zhang, Zezhou Sun, Yijia Wu, Alberto Quattrini Li, Bo Zhu, Emily Whiting, Weifu Wang, Devin Balkcom
分類: cs.RO
原文アブストラクト
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows analysis of systems with thousands of rigid bodies. Potential applications include analysis of collections of modular robots, structural stability perturbation analysis, tolerance analysis for mechanical systems, and formation control of mobile robots.
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