Advertisement

Journal of Intelligent and Robotic Systems

, Volume 15, Issue 3, pp 235–262 | Cite as

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

  • Jiming Liu
Article
  • 37 Downloads

Abstract

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.

Key words

Qualitative spatial reasoning 2D Cartesian free space characterization constrained mechanism analysis robot path planning 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Barraquand, Jérôme and Latombe, Jean-Claude: A monte-carlo algorithm for path planning with many degrees of freedom, inProc. IEEE Int. Conf. on Robotics and Automation, 1990, pp. 1712–1717.Google Scholar
  2. 2.
    Blackwell, Alan: Qualitative geometric reasoning using a partial distance ordering, in J.S. Gero and R. Stanton (eds),Artificial Intelligence Developments and Applications, Elsevier, Amsterdam, 1988, pp. 217–229.Google Scholar
  3. 3.
    Brady, Michael: The problems of robotics, in Michael Brady (ed.),Robotics Science, System Development Foundation Benchmark Series, MIT Press, Cambridge, MA, 1989. pp. 1–35.Google Scholar
  4. 4.
    Brooks, Rodney A.: Solving the find-path problem by good representation of free space,IEEE Trans. on Systems, Man, and Cybernetics 13(3) (1983), 190–197.Google Scholar
  5. 5.
    Erdman, Arthur G.: Computer-aided design of mechanisms: 1984 and beyond,Mechanism and Machine Theory 20(4) (1986), 245–249.Google Scholar
  6. 6.
    Faltings, Boi: A symbolic approach to qualitative kinematics,Artificial Intelligence 56(2–3) (1992), 139–170.Google Scholar
  7. 7.
    Forbus, Kenneth D., Nielsen, Paul, and Faltings, Boi: Qualitative spatial reasoning: the clock project,Artificial Intelligence 51(1–3) (1991), 417–471.Google Scholar
  8. 8.
    Hartenberg, R. S. and Denavit, J.:Kinematic Synthesis of Linkages, McGraw-Hill, New York, NY, 1964.Google Scholar
  9. 9.
    Hunt, Kenneth H.:Kinematic Geometry of Mechanisms, Oxford Engineering Science Series, Oxford University Press, Oxford, 1978.Google Scholar
  10. 10.
    Joskowicz, Leo and Sacks, Elisha: Incremental configuration space construction for mechanism analysis, inProc. AAAI-91, 1991, pp. 888–893.Google Scholar
  11. 11.
    Kota, Sridhar, Erdman, Arthur G., Riley, Donald R., Esterline, Albert, and Slagle, James R.: A network based expert system for intelligent design of mechanisms,AI EDAM 2(1) (1988), 17–32.Google Scholar
  12. 12.
    Kramer, Glenn A.: Solving geometric constraint systems, inProc. AAAI-90, Vol. 2, Boston, MA, Aug. 1990, pp. 708–714.Google Scholar
  13. 13.
    Lazanas, Anthony and Latombe, Jean-Claude: Landmark-based robot navigation, inProc. AAAI-92, 1992, pp. 816–822.Google Scholar
  14. 14.
    Liu, Jiming: Qualitative spatial reasoning with applications to planar mechanism analysis and motion planning, Ph.D. Dissertation, Department of Electrical Engineering, McGill University, Canada, 1994.Google Scholar
  15. 15.
    Liu, Jiming and Daneshmend, Laeeque K.: Qualitative analysis of task kinematics for compliant motion planning, inProc. 1991 IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, April 1991, pp. 1258–1265.Google Scholar
  16. 16.
    Lozano-Pérez, Tomás: Spatial planning: a configuration space approach,IEEE Trans. on Computers C-32 (2) (1983), 108–109.Google Scholar
  17. 17.
    Lozano-Pérez, Tomás and Wesley, Micheal A.: An algorithm for planning collision-free paths among polyhedral obstacles,Commun. ACM 22(10) (1979), 560–570.Google Scholar
  18. 18.
    Mason, Matthew T.: Compliance and force control for computer controlled manipulators,IEEE Trans. on Systems, Man, and Cybernetics 11(6) (1981), 418–432.Google Scholar
  19. 19.
    Chee-Keng Yap:Coordinating the Motion of Several Discs, Robotics Lab., NYU-Courant Institute, No. 16, 1984.Google Scholar

Copyright information

© Kluwer Academic Publishers 1996

Authors and Affiliations

  • Jiming Liu
    • 1
  1. 1.Computing Studies DepartmentHong Kong Baptist UniversityKowloonHong Kong

Personalised recommendations