Publication Type |
technical report |
School or College |
College of Engineering |
Department |
Computing, School of |
Creator |
Nelson, Donald |
Title |
Constraint Jacobians for constant-time inverse kinematics and assembly optimization |
Date |
1998 |
Description |
An algorithm for the constant-time solution of systems of geometric constraint equations is presented in this work. constraint equations and their Jacobians may be used in conjunction with other numerical methods to solve for a variety of kinematics, dynamics, and assembly optimization problems. The use of constraint equations for these purpose is an under-utilized method in this area. The use of quaternions for coordinates in these constraint equations is shown to be a key choice in the optimization problem for avoiding local minima. |
Type |
Text |
Publisher |
University of Utah |
First Page |
1 |
Last Page |
12 |
Subject |
Constant-time; Inverse kinematics; Constraint Jacobians |
Subject LCSH |
Jacobians |
Language |
eng |
Bibliographic Citation |
Nelson, D. (1998). Constraint jacobians for constant-time inverse kinematics and assembly optimization. 1-12. UUCS-98-004 |
Series |
University of Utah Computer Science Technical Report |
Relation is Part of |
ARPANET |
Rights Management |
©University of Utah |
Format Medium |
application/pdf |
Format Extent |
1,347,417 bytes |
Identifier |
ir-main,15977 |
ARK |
ark:/87278/s6902n8h |
Setname |
ir_uspace |
ID |
705590 |
Reference URL |
https://collections.lib.utah.edu/ark:/87278/s6902n8h |