Finding the maximal pose error in robotic mechanical systems using constraint programming

Nicolas Berger, Ricardo Soto, Alexandre Goldsztejn, Stéphane Caro, Philippe Cardou

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

The position and rotational errors -also called pose errors- of the end-effector of a robotic mechanical system are partly due to its joints clearances, which are the play between their pairing elements. In this paper, we model the prediction of those errors by formulating two continuous constrained optimization problems that turn out to be NP-hard. We show that techniques based on numerical constraint programming can handle globally and rigorously those hard optimization problems. In particular, we present preliminary experiments where our global optimizer is very competitive compared to the best-performing methods presented in the literature, while providing more robust results.

Original languageEnglish
Title of host publicationTrends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings
Pages82-91
Number of pages10
EditionPART 1
DOIs
StatePublished - 2010
Externally publishedYes
Event23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligence Systems, IEA/AIE 2010 - Cordoba, Spain
Duration: 1 Jun 20104 Jun 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume6096 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligence Systems, IEA/AIE 2010
Country/TerritorySpain
CityCordoba
Period1/06/104/06/10

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