A branch-and-prune solver for distance constraints

IEEE Transactions on Robotics

Volumn 21, Issue 2, 2005, Pages 176-187

  Porta, Josep M ^a   Ros, Lluís ^a   Thomas, Federico ^a   Torras, Carme ^a  

^a CSIC   (Spain)

Author keywords

Branch and prune; Cayley Menger determinant; Direct and inverse kinematics; Distance constraint; Interval method; Kinematic and geometric constraint solving; Octahedral manipulator

Indexed keywords

ALGORITHMS; DISTANCE MEASUREMENT; GEOMETRY; INVERSE KINEMATICS; ITERATIVE METHODS; LINEAR EQUATIONS; MANIPULATORS; MATRIX ALGEBRA; POSITION CONTROL; ROBOTICS;

BRANCH-AND-PRUNE SOLVER; CAYLEY-MENGER DETERMINANT; DIRECT KINEMATICS; DISTANCE CONSTRAINTS; GEOMETRIC CONSTRAINT SOLVING; INTERVAL METHOD; KINEMATIC CONSTRAINT SOLVING; OCTAHEDRAL MANIPULATOR; POSITION ANALYSIS;

CONSTRAINT THEORY;

EID: 18144405777     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.835450     Document Type: Article

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