TY - GEN
T1 - Modeling and tracking line-constrained mechanical systems
AU - Rosenhahn, Bodo
AU - Brox, Thomas
AU - Cremers, Daniel
AU - Seidel, Hans Peter
PY - 2008
Y1 - 2008
N2 - This work deals with modeling and tracking of mechanical systems which are given as kinematic chains with restricted degrees of freedom. Such systems may involve many joints, but due to additional restrictions or mechanical properties the joints depend on each other. So-called closed-chain or parallel manipulators are examples for kinematic chains with additional constraints. Though the degrees of freedom are limited, the complexity of the dynamic equations increases rapidly when studied analytically. In this work, we suggest to avoid this kind of analytic integration of interconnection constraints and instead to model them numerically via soft constraints.
AB - This work deals with modeling and tracking of mechanical systems which are given as kinematic chains with restricted degrees of freedom. Such systems may involve many joints, but due to additional restrictions or mechanical properties the joints depend on each other. So-called closed-chain or parallel manipulators are examples for kinematic chains with additional constraints. Though the degrees of freedom are limited, the complexity of the dynamic equations increases rapidly when studied analytically. In this work, we suggest to avoid this kind of analytic integration of interconnection constraints and instead to model them numerically via soft constraints.
UR - https://www.scopus.com/pages/publications/49949093379
U2 - 10.1007/978-3-540-78157-8_8
DO - 10.1007/978-3-540-78157-8_8
M3 - Conference contribution
AN - SCOPUS:49949093379
SN - 3540781560
SN - 9783540781561
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 98
EP - 110
BT - Robot Vision
T2 - 2nd International Workshop on Robot Vision, RobVis 2008
Y2 - 18 February 2008 through 20 February 2008
ER -