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Robust solutions for a robotic manipulator optimization problem

Abstract : In robotics, pose errors are known as positional and rota-tional errors of a given mechanical system. Those errors are commonly produced by the so-called joint clearances, which are the play between pairing elements. Predicting pose errors can be done via the formulation of two optimization models holding continuous domains, which belong to the NP-Hard class of problems. In this paper, we focus on the use of constraint programming in order to provide rigorous and reliable solution to this problem.
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Submitted on : Thursday, July 4, 2019 - 10:02:38 AM
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Ricardo Soto, Stéphane Caro, Broderick Crawford, Eric Monfroy. Robust solutions for a robotic manipulator optimization problem. The 5th International Work-Conference on the Interplay Between Natural and Artificial Computation, Jun 2013, Mallorca, Spain. pp.451-460, ⟨10.1007/978-3-642-38622-0_47⟩. ⟨hal-00875554⟩



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