Team, Visitors, External Collaborators
Overall Objectives
Research Program
Application Domains
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
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Section: New Software and Platforms


Kinematic Chain Appropriate Design Library

Keywords: Interval analysis - Uncertainty - Kinematics

Functional Description: Software for the modelling and analysis of imprecise serial kinematic chains. Chain objects are built by iteratively adding rigid-body segments with associated joint connections (e.g., fixed, revolute, prismatic). Several standard options are provided to model each segment (e.g., Denavit-Hartenberg parameters, transformation matrices, twists). Each option accepts interval and non-interval arguments, allowing to model the uncertainties and variabilities of imprecise serial kinematic chains and also the conventional precise serial kinematic chains. Forward Kinematic (FK) and Inverse Kinematic (IK) solvers are available for Chain objects. The FK solver computes an outer bound of the set of poses associated with a set of joint configurations. The IK solver computes an outer bound of the set of joint configurations associated with a set of poses.