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- W58711641 abstract "A multi-loop linkage can be viewed as a graph of kinematic constraints, and its solution entails finding joint configurations satisfying all constraints simultaneously. In this paper, a general algorithm to obtain all solution configurations is presented. Each loop provides a matrix equation in homogeneous coordinates, which is handled as a constraint on the involved joint variables. The algorithm uses one constraint at a time to reduce the valid ranges for variables, by iteratively applying two simple geometric operations: segment-trapezoid and circle-rectangle clippings. The obtained experimental results qualify this approach as a valuable alternative to other interval-based strategies." @default.
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- W58711641 date "2002-01-01" @default.
- W58711641 modified "2023-09-24" @default.
- W58711641 title "Solving Multi-Loop Linkages by Iterating 2D Clippings" @default.
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- W58711641 doi "https://doi.org/10.1007/978-94-017-0657-5_27" @default.
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