Qualitative analysis of task kinematics for compliant motion planning

Abstract

A qualitative geometric reasoning approach to the analysis of robot task kinematics is presented. Qualitative geometric reasoning refers to the process of deriving a solution based on a set of geometric rules in which the concepts are described in terms of symbolic qualitative values and partial-ordering relations. The qualitative kinematic analysis scheme permits computationally efficient approximate solutions of kinematic problems without using exact information on the geometry of mechanisms under consideration, and provides a basis for the functional simulation of mechanisms.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>