TY - JOUR
T1 - Method of qualitative spatial envisionment with applications to planar mechanism configuration modeling and planning
AU - Liu, Jiming
N1 - Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 1996
Y1 - 1996
N2 - This paper describes a method for qualitatively representing and reasoning about spatial configurations of planar mechanisms. The method has direct relevance to, and implications for, computer-aided mechanism design and robotics. In particular, it can be used to solve spatial configuration problems where exact geometric knowledge is not available, and to provide guidance for the application of quantitative configuration modeling and planning methods. In this paper, two applications of this method are demonstrated. The first application is concerned with inferring the instantaneous configurations and coupler curves in one-degree-of-freedom planar linkages. The second application deals with planning collision-free paths for open-chain planar mechanisms moving among static obstacles.
AB - This paper describes a method for qualitatively representing and reasoning about spatial configurations of planar mechanisms. The method has direct relevance to, and implications for, computer-aided mechanism design and robotics. In particular, it can be used to solve spatial configuration problems where exact geometric knowledge is not available, and to provide guidance for the application of quantitative configuration modeling and planning methods. In this paper, two applications of this method are demonstrated. The first application is concerned with inferring the instantaneous configurations and coupler curves in one-degree-of-freedom planar linkages. The second application deals with planning collision-free paths for open-chain planar mechanisms moving among static obstacles.
UR - http://www.scopus.com/inward/record.url?scp=0030102228&partnerID=8YFLogxK
U2 - 10.1007/BF00572262
DO - 10.1007/BF00572262
M3 - Journal article
AN - SCOPUS:0030102228
SN - 0921-0296
VL - 15
SP - 235
EP - 262
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 3
ER -