contributor author | Hai-Jun Su | |
contributor author | Layne T. Watson | |
contributor author | J. Michael McCarthy | |
date accessioned | 2017-05-09T00:12:24Z | |
date available | 2017-05-09T00:12:24Z | |
date copyright | September, 2004 | |
date issued | 2004 | |
identifier issn | 1530-9827 | |
identifier other | JCISB6-25948#226_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/129681 | |
description abstract | In this paper, we apply a homotopy algorithm to the problem of finding points in a moving body that lie on specific algebraic surfaces for a given set of spatial configurations of the body. This problem is a generalization of Burmester’s determination of points in a body that lie on a circle for five planar positions. We focus on seven surfaces that we term “reachable” because they correspond to serial chains with two degree-of-freedom positioning structures combined with a three degree-of-freedom spherical wrist. A homotopy algorithm based on generalized linear products is used to provide a convenient estimate of the number of solutions of these polynomial systems. A parallelized version of this algorithm was then used to numerically determine all of the solutions. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Generalized Linear Product Homotopy Algorithms and the Computation of Reachable Surfaces | |
type | Journal Paper | |
journal volume | 4 | |
journal issue | 3 | |
journal title | Journal of Computing and Information Science in Engineering | |
identifier doi | 10.1115/1.1760550 | |
journal fristpage | 226 | |
journal lastpage | 234 | |
identifier eissn | 1530-9827 | |
keywords | Algorithms | |
keywords | Chain | |
keywords | Equations | |
keywords | Polynomials AND Computation | |
tree | Journal of Computing and Information Science in Engineering:;2004:;volume( 004 ):;issue: 003 | |
contenttype | Fulltext | |