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Title: PuzzleFlex: kinematic motion of chains with loose joints
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows analysis of systems with thousands of rigid bodies. Potential applications include analysis of collections of modular robots, structural stability perturbation analysis, tolerance analysis for mechanical systems, and formation control of mobile robots.  more » « less
Award ID(s):
1813043
NSF-PAR ID:
10316187
Author(s) / Creator(s):
; ; ; ; ; ; ; ; ;
Date Published:
Journal Name:
International Conference on Robotics and Automation
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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