PuzzleFlex: kinematic motion of chains with loose joints

被引：0
|
作者：
Lensgraf, Samuel
Itani, Karim
Zhang, Yinan
Sun, Zezhou
Wu, Yijia
Li, Alberto Quattrini
Zhu, Bo
Whiting, Emily
Wang, Weifu
Balkcom, Devin
机构：
来源：
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2020年
基金：
美国国家科学基金会;
关键词：
INTERACTIVE SIMULATION; OBJECTS;
D O I：
10.1109/icra40945.2020.9196854
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：6730 / 6737
页数：8
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