Constraint (computer-aided design)
Related papers: 20
About
A constraint in computer-aided design (CAD) and robotics is a mathematical condition or rule that restricts the motion, configuration, or behavior of a system — limiting what positions, forces, orientations, or trajectories are permissible. Constraints arise in many forms: geometric relationships between robot links, physical contact with surfaces, joint limits, safety boundaries, and task requirements such as maintaining a specific end-effector orientation. In robotics and AI, constraints are fundamental to motion planning, manipulation, and control. Planners use them to generate collision-free paths on constraint manifolds, controllers enforce them through techniques like barrier Lyapunov functions and control barrier functions, and designers apply them during mechanism synthesis to achieve desired degrees of freedom. Constraints also appear in multi-robot coordination, human-robot collaboration, reinforcement learning safety, and kinematic redundancy resolution. Constraints matter because real-world robots must operate under strict physical and safety limitations. Properly modeling and satisfying constraints allows robots to perform complex manipulation tasks, walk stably on uneven terrain, collaborate safely with humans, and respect hardware limits — ultimately bridging the gap between idealized models and reliable deployment in practical environments.
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Planning walking patterns for a biped robot
Qiang Huang, Kazuhito Yokoi, Shuuji Kajita, Kenji Kaneko, Hirohiko Arai, Noriho Koyachi, K. Tanie
Citations: 852 • 2001
The Representation, Recognition, and Locating of 3-D Objects
Olivier Faugeras, Martial Hebert
Citations: 796 • 1986
Feedback stabilization and tracking of constrained robots
N. Harris McClamroch, D. Wang
Citations: 703 • 1988
Adaptive Fixed-Time Control for MIMO Nonlinear Systems With Asymmetric Output Constraints Using Universal Barrier Functions
Xu Jin
Citations: 679 • 2018
A general framework for managing multiple tasks in highly redundant robotic systems
Bruno Siciliano, J.-J.E. Slotine
Citations: 592 • 1991
Kinematic control of redundant robot manipulators: A tutorial
Bruno Siciliano
Citations: 579 • 1990
Dynamic hybrid position/force control of robot manipulators--Description of hand constraints and calculation of joint driving force
Takuma Yoshikawa
Citations: 475 • 1987
An improved epsilon constraint-handling method in MOEA/D for CMOPs with large infeasible regions
Zhun Fan, Wenji Li, Xinye Cai, Han Huang, Yi Fang, Yugen You, Jiajie Mo, Cai-Min Wei, Erik D. Goodman
Citations: 415 • 2019
Neural Network Control of a Robotic Manipulator With Input Deadzone and Output Constraint
Wei He, David Ofosu Amoateng, Zhao Yin, Changyin Sun
Citations: 396 • 2015
Safety in human-robot collaborative manufacturing environments: Metrics and control
Andrea Maria Zanchettin, Nicola Maria Ceriani, Paolo Rocco, Hao Ding, Björn Matthias
Citations: 391 • 2015
General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators
Zhenyu Huang, Q.C. Li
Citations: 385 • 2002
Design and application of industrial machine vision systems
H. Golnabi, A. Asadpour
Citations: 376 • 2007
Task Space Regions
Dmitry Berenson, Siddhartha S Srinivasa, James Kuffner
Citations: 371 • 2011
Motion of two rigid bodies with rolling constraint
Zexiang Li, John Canny
Citations: 360 • 1990
Mobility of mechanisms: a critical review
G. Gogu
Citations: 343 • 2005
Distributed formation control of nonholonomic mobile robots without global position measurements
Tengfei Liu, Zhong‐Ping Jiang
Citations: 342 • 2012
High-Order Control Barrier Functions
Wei Xiao, Călin Belta
Citations: 334 • 2021
Cobots: Robots for Collaboration With Human Operators
J. Edward Colgate, Witaya Wannasuphoprasit, Michael A. Peshkin
Citations: 332 • 1996
Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane
H. Hemami, Bostwick F. Wyman
Citations: 327 • 1979
Manipulating and grasping forces in manipulation by multifingered robot hands
T. Yoshikawa, Kiyoshi Nagai
Citations: 315 • 1991