کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
804947 905025 2010 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Constrained motion interpolation for planar open kinematic chains
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Constrained motion interpolation for planar open kinematic chains
چکیده انگلیسی

This paper deals with the problem of motion interpolation of an object as part of planar open kinematic chains. Instead of synthesizing the interpolating motions in the joint space of a planar chain, this paper presents a method for synthesizing smooth motions in the workspace of the chain. The resulting motions are piecewise rational and therefore more compatible with the existing NURBS based CAD systems. The paper brings together the well-known kinematics of planar two- and three-DOF kinematic chains with revolute and/or prismatic joints and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions. Both C1 and C2 continuous interpolations are considered. The results have applications in Cartesian motion planning in robotics and task specification for the task driven design of robots and mechanisms.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 45, Issue 11, November 2010, Pages 1721–1732
نویسندگان
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