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

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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

6 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaTrends in Applied Intelligent Systems - 23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2010, Proceedings
Páginas82-91
Número de páginas10
EdiciónPART 1
DOI
EstadoPublicada - 2010
Publicado de forma externa
Evento23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligence Systems, IEA/AIE 2010 - Cordoba, Espana
Duración: 1 jun 20104 jun 2010

Serie de la publicación

NombreLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NúmeroPART 1
Volumen6096 LNAI
ISSN (versión impresa)0302-9743
ISSN (versión digital)1611-3349

Conferencia

Conferencia23rd International Conference on Industrial Engineering and Other Applications of Applied Intelligence Systems, IEA/AIE 2010
País/TerritorioEspana
CiudadCordoba
Período1/06/104/06/10

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