Albert Castellet

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In this paper we present a new algehrwic analysis of the closure equation obtained for arbitrary single loop spatial kinematic chains, which allows us to design an eficient interval method for solving their inverse kine-matics. The solution of a kinematic equation can be factored into a solution of both its rotational and its transla-tional components. We(More)
In this paper we describe a general procedure to solve the posi-tional inverse kinematics problem using an interval method. The classical interval Newton method is used together with speciic developed interval cuts over the closure equations. The algorithm uses a basic branch-and-bound procedure to obtain all solutions of the inverse positional problem of(More)
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