Introduction to Algebraic Methods for Solving the Forward Kinematics Problem of Parallel Robots applied to High Throughput and High Accuracy

Luc Rolland 1
1 SPACES - Solving problems through algebraic computation and efficient software
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : After the recent success of parallel robots in flight simulation and material handling, engineers have introduced them in the fields of machine-tools and medicine. These machines ought to fulfill high accuracy and fast throughput requirements such as encountered in milling and surgery. Inasmuch, this poses serious challenges to engineers. In fact, they were left without satisfactory and effective methods to solve all kinematics problems. Hence, these are essential in the realization of significative computer tools to measure, model and simulate the robot behavior in order to help the designer, the user and the technician to insure that the robot shall successfully accomplish a specified task. The use of perfomant algebra tools applied to geometry in a computer algebra environment opens the way to all exact solutions to the kinematics problem by the implementation of perfomant tools such as algebraic system representation, Groebner bases, rational univariate representation RUR and real root isolation.
Type de document :
Communication dans un congrès
Third European-Asian Congress on Mecatronics, 2001, Besançon, France, 10 p, 2001
Liste complète des métadonnées

https://hal.inria.fr/inria-00100548
Contributeur : Publications Loria <>
Soumis le : mardi 26 septembre 2006 - 14:47:01
Dernière modification le : jeudi 11 janvier 2018 - 06:20:00

Identifiants

  • HAL Id : inria-00100548, version 1

Collections

Citation

Luc Rolland. Introduction to Algebraic Methods for Solving the Forward Kinematics Problem of Parallel Robots applied to High Throughput and High Accuracy. Third European-Asian Congress on Mecatronics, 2001, Besançon, France, 10 p, 2001. 〈inria-00100548〉

Partager

Métriques

Consultations de la notice

126