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Robot Workspace Approximation with Modified Bicenetred Krawczyk Method

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Optimization and Applications (OPTIMA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13781))

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Abstract

The article considers the application of numerical method based on bicentered Krawczyk operator for solving the problem of the robot workspace approximation with box constraints. We applied several modifications for approximation of the solution sets of the indeterminate system of nonlinear equations and compare it with basic method. All methods were tested on a passive orthosis robot, which is part of the lower limb rehabilitation system. A mathematical model of the mechanism kinematics is presented. We evaluate the efficiency of the considered approaches, compute and visualize the robot workspace for different parameters sets.

This research was supported by the Ministry of Science and Higher Education of the Russian Federation, project No 075-15-2020-799.

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Authors and Affiliations

  1. Federal Research Center “Computer Science and Control” of the Russian Academy of Sciences (FRC CSC RAS), 44/2, Vavilova Street, 119333, Moscow, Russian Federation

    Artem Maminov & Mikhail Posypkin

  2. HSE University, 20 Myasnitskaya Ulitsa, 101000, Moscow, Russian Federation

    Artem Maminov & Mikhail Posypkin

Authors
  1. Artem Maminov
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  2. Mikhail Posypkin
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Corresponding author

Correspondence to Artem Maminov .

Editor information

Editors and Affiliations

  1. Dorodnitsyn Computing Centre, Moscow, Russia

    Nicholas Olenev

  2. Dorodnitsyn Computing Centre, Moscow, Russia

    Yuri Evtushenko

  3. University of Montenegro, Podgorica, Montenegro

    Milojica Jaćimović

  4. Krasovskii Institute of Mathematics and Mechanics, Ekaterinburg, Russia

    Michael Khachay

  5. Dorodnitsyn Computing Centre, Moscow, Russia

    Vlasta Malkova

  6. Dorodnitsyn Computing Centre, Moscow, Russia

    Igor Pospelov

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Maminov, A., Posypkin, M. (2022). Robot Workspace Approximation with Modified Bicenetred Krawczyk Method. In: Olenev, N., Evtushenko, Y., Jaćimović, M., Khachay, M., Malkova, V., Pospelov, I. (eds) Optimization and Applications. OPTIMA 2022. Lecture Notes in Computer Science, vol 13781. Springer, Cham. https://doi.org/10.1007/978-3-031-22543-7_17

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  • DOI: https://doi.org/10.1007/978-3-031-22543-7_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-22542-0

  • Online ISBN: 978-3-031-22543-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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