Motion planning and control of a planar polygonal linkage. (September 2018)

• Record Type: Journal Article
• Authors: Panina, Gaiane; Siersma, Dirk
• Is Part Of: Journal of symbolic computation. Volume 88(2018)
• Page Start: 5
• Page End: 20
• Publication Date: 2018-09
• Subjects: Polygonal linkage -- Motion planning -- Navigation -- Configuration space; Mathematics -- Data processing -- Periodicals; Numerical analysis -- Data processing -- Periodicals; Automatic programming (Computer science) -- Periodicals; Mathématiques -- Informatique -- Périodiques; Analyse numérique -- Informatique -- Périodiques; Programmation automatique -- Périodiques; Automatic programming (Computer science); Mathematics -- Data processing; Numerical analysis -- Data processing; Periodicals; Electronic journals; 510.285
• DOI: 10.1016/j.jsc.2018.02.002
• Languages: English
• ISSNs: 0747-7171

Abstract

Abstract: For a polygonal linkage, we produce a fast navigation algorithm on its configuration space. The basic idea is to approximate M ( L ) by the vertex-edge graph of the cell decomposition of the configuration space discovered by the first author. The algorithm has three aspects: (1) the number of navigation steps does not exceed 15 (independent of the linkage), (2) each step is a disguised flex of a quadrilateral from one triangular configuration to another, which is a well understood type of flex, and (3) each step can be performed explicitly by adding some extra bars and obtaining a mechanism with one degree of freedom.