A group-theoretic approach to the computation of symbolic part relations
A group-theoretic approach to the computation of symbolic part relations
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DOI：
10.1109/56.9300
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发表时间：
1988-12
期刊：
影响因子：
--
通讯作者：
F. Thomas;C. Torras
中科院分区：
文献类型：
--
作者：
F. Thomas;C. Torras
当一组约束施加在几个刚体之间的自由度上时，找到满足所有这些约束的一个或多个配置是一个特别感兴趣的问题。这个问题并不是新的，已经讨论过，不仅在运动学，而且最近在对象级机器人编程语言的设计。在这最后一个领域，已经开发了几种语言，从不同的角度来看，能够部分解决这个问题。一个更一般的方法是来自比以前提出的，是基于矩阵产品链的符号操作，使用连续群的理论。>
When a set of constraints is imposed on the degrees of freedom between several rigid bodies, finding the configuration or configurations that satisfy all these constraints is a matter of special interest. The problem is not new and has been discussed, not only in kinematics, but also more recently in the design of object-level robot programming languages. In this last domain, several languages have been developed, from different points of view, that are able to partially solve the problem. A more general method is derived than those previously proposed that were based on the symbolic manipulation of chains of matrix products, using the theory of continuous groups. >