TY - GEN
T1 - Computer aided synthesis of rational motion under kinematic constraints of spatial ss open chains
AU - Anurag, Purwar
AU - Zhe, Jin
AU - Ge, Q. J.
PY - 2009
Y1 - 2009
N2 - In this paper, we study the problem of rational motion interpolation under kinematic constraints of spatial SS open chains. The objective is to synthesize a smooth rational motion that interpolates a given set of end effector positions and satisfies the kinematic constraints imposed by spatial SS open chains. The kinematic constraints under consideration define a constraint manifold representing all the positions available to the end effector. By choosing dual quaternion representation for the displacement of the end effector, the problem is reduced to designing a smooth curve in the space of dual quaternions that is constrained to lie inside the constraint manifold of the spatial SS open chain. An iterative numerical algorithm is presented that solves this problem effectively. The results presented in this paper are extension of our previous work on the synthesis ofpiecewise rational planar and spherical motions for open and closed chains under kinematic constraints.
AB - In this paper, we study the problem of rational motion interpolation under kinematic constraints of spatial SS open chains. The objective is to synthesize a smooth rational motion that interpolates a given set of end effector positions and satisfies the kinematic constraints imposed by spatial SS open chains. The kinematic constraints under consideration define a constraint manifold representing all the positions available to the end effector. By choosing dual quaternion representation for the displacement of the end effector, the problem is reduced to designing a smooth curve in the space of dual quaternions that is constrained to lie inside the constraint manifold of the spatial SS open chain. An iterative numerical algorithm is presented that solves this problem effectively. The results presented in this paper are extension of our previous work on the synthesis ofpiecewise rational planar and spherical motions for open and closed chains under kinematic constraints.
UR - https://www.scopus.com/pages/publications/69949118432
M3 - Conference contribution
SN - 9780791843253
SN - 9780791843260
T3 - 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
SP - 1285
EP - 1294
BT - 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
T2 - 2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
Y2 - 3 August 2008 through 6 August 2008
ER -