The establishment of edge-based loop algebra theory of kinematic chains and its applications

被引：0
|
作者：
Huafeng Ding
Jing Zhao
Zhen Huang
机构：
[1] Yanshan University,Robotics Research Center
[2] Key Lab of Industrial Computer Control Engineering of Hebei Province,undefined
来源：
Engineering with Computers | 2010年 / 26卷
关键词：
Kinematic chain; Loop algebra theory; Rigid sub-chain detection; Driving pair selection;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Based on the edge-based array representation of loops in the topological graphs of kinematic chains, this paper first proposes three arithmetic operations of loops. Then the concept of the independent loop set as well as its determination rules is introduced, and a new structure decomposition algorithm of kinematic chains is presented. Based on the algorithm, an automatic and efficient method for rigid sub-chain detection and driving pair selection of kinematic chains is proposed. Finally, an index is proposed to assess computation complexity of kinematic analysis with respect to different driving pair selections.
引用
收藏
页码：119 / 127
页数：8
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