Qualitative analysis of task kinematics for compliant motion planning

Jiming Liu*, Laeeque K. Daneshmend

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)

Abstract

A qualitative geometric reasoning approach to the analysis of robot task kinematics is presented. Qualitative geometric reasoning refers to the process of deriving a solution based on a set of geometric rules in which the concepts are described in terms of symbolic qualitative values and partial-ordering relations. The qualitative kinematic analysis scheme permits computationally efficient, approximate solutions of kinematic problems without using exact information on the geometry of mechanisms under consideration and provides a basis for the functional simulation of mechanisms.

Original languageEnglish
Pages (from-to)1258-1265
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - Apr 1991
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: 9 Apr 199111 Apr 1991

Scopus Subject Areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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