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

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

doi:10.1007/978-3-642-13022-9_9

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

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

SCHOOL OF COMPUTER ENGINEERING

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	Trends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings
Pages	82-91
Number of pages	10
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-13022-9_9
State	Published - 2010
Event	23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligence Systems, IEA/AIE 2010 - Cordoba, Spain Duration: 1 Jun 2010 → 4 Jun 2010

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	6096 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligence Systems, IEA/AIE 2010
Country/Territory	Spain
City	Cordoba
Period	1/06/10 → 4/06/10

Access to Document

10.1007/978-3-642-13022-9_9

Cite this

Berger, N., Soto, R., Goldsztejn, A., Caro, S., & Cardou, P. (2010). Finding the maximal pose error in robotic mechanical systems using constraint programming. In Trends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings (PART 1 ed., pp. 82-91). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6096 LNAI, No. PART 1). https://doi.org/10.1007/978-3-642-13022-9_9

Berger, Nicolas ; Soto, Ricardo ; Goldsztejn, Alexandre et al. / Finding the maximal pose error in robotic mechanical systems using constraint programming. Trends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings. PART 1. ed. 2010. pp. 82-91 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

@inproceedings{563b1009900f4ad193bbaa64004d4c50,

title = "Finding the maximal pose error in robotic mechanical systems using constraint programming",

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.",

author = "Nicolas Berger and Ricardo Soto and Alexandre Goldsztejn and St{\'e}phane Caro and Philippe Cardou",

year = "2010",

doi = "10.1007/978-3-642-13022-9_9",

language = "English",

isbn = "3642130216",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

number = "PART 1",

pages = "82--91",

booktitle = "Trends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings",

edition = "PART 1",

note = "23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligence Systems, IEA/AIE 2010 ; Conference date: 01-06-2010 Through 04-06-2010",

}

Berger, N, Soto, R, Goldsztejn, A, Caro, S & Cardou, P 2010, Finding the maximal pose error in robotic mechanical systems using constraint programming. in Trends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 6096 LNAI, pp. 82-91, 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligence Systems, IEA/AIE 2010, Cordoba, Spain, 1/06/10. https://doi.org/10.1007/978-3-642-13022-9_9

Finding the maximal pose error in robotic mechanical systems using constraint programming. / Berger, Nicolas; Soto, Ricardo; Goldsztejn, Alexandre et al.
Trends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings. PART 1. ed. 2010. p. 82-91 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6096 LNAI, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Finding the maximal pose error in robotic mechanical systems using constraint programming

AU - Berger, Nicolas

AU - Soto, Ricardo

AU - Goldsztejn, Alexandre

AU - Caro, Stéphane

AU - Cardou, Philippe

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=79551569582&partnerID=8YFLogxK

U2 - 10.1007/978-3-642-13022-9_9

DO - 10.1007/978-3-642-13022-9_9

M3 - Conference contribution

AN - SCOPUS:79551569582

SN - 3642130216

SN - 9783642130212

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 82

EP - 91

BT - Trends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings

T2 - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligence Systems, IEA/AIE 2010

Y2 - 1 June 2010 through 4 June 2010

ER -

Berger N, Soto R, Goldsztejn A, Caro S, Cardou P. Finding the maximal pose error in robotic mechanical systems using constraint programming. In Trends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings. PART 1 ed. 2010. p. 82-91. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-642-13022-9_9

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

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this