, Volume 15, Issue 3, pp 235-262

A method of qualitative spatial envisionment with applications to planar mechanism configuration modeling and planning

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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.