Robotics Research Technical Report: A Framework for the Kinematic Analysis of Mechanical Devices (Classic Reprint) - Tapa dura

Sinopsis

Excerpt from Robotics Research Technical Report: A Framework for the Kinematic Analysis of Mechanical Devices

Deducing the behavior of a device from its structural description is necessary to carry a number of tasks such as explanation, diagnosis and design. In all three cases we must be able to determine the possible behaviors of a device so that we can either produce a causal explanation, determine the fault by comparing the observed behavior with the desired behavior or introduce structural changes to achieve the desired behavior. For these tasks, envisioning'and prediction of behavior are of particular importance. Given a structural description of a mechanism in terms of its parts, their shapes and an initial position, envisioning consists of determining all the possible motions of each part and their relationships. Given a sequence of motions applied to various parts of the mechanism, prediction of behavior consists of determining the actual motions of each part and their relationships. Furthermore, a qualitative description of these behaviors is desirable to produce good explanations and guide the diagnosis or design process.

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