A method of qualitative spatial envisionment with applications to planar mechanism configuration modeling and planning
- Jiming Liu
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This paper describes a method for qualitatively representing and reasoning about spatial configurations ofplanar mechanisms. The method has direct relevance to, and implications for,computer-aided mechanism design androbotics. 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 inone-degree-of-freedom planar linkages. The second application deals with planning collision-free paths foropen-chain planar mechanisms moving among static obstacles.
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- A method of qualitative spatial envisionment with applications to planar mechanism configuration modeling and planning
Journal of Intelligent and Robotic Systems
Volume 15, Issue 3 , pp 235-262
- Cover Date
- Print ISSN
- Online ISSN
- Kluwer Academic Publishers
- Additional Links
- Qualitative spatial reasoning
- 2D Cartesian free space characterization
- constrained mechanism analysis
- robot path planning
- Industry Sectors
- Jiming Liu (1)
- Author Affiliations
- 1. Computing Studies Department, Hong Kong Baptist University, 224 Waterloo Road, Kowloon, Hong Kong