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 language | English |
---|---|
Pages (from-to) | 1258-1265 |
Number of pages | 8 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 2 |
Publication status | Published - Apr 1991 |
Event | Proceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA Duration: 9 Apr 1991 → 11 Apr 1991 |
Scopus Subject Areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering