This paper presents a generalized framework to solve m-pose, n-path-points mixed synthesis problems, known as the Alt-Burmester problems, using a task-driven motion synthesis approach. We aim to unify the path and motion synthesis problems into an approximate mixed synthesis framework. Fourier descriptors are used to establish a closed-form relationship between the path and orientation data. This relationship is then exploited to formulate mixed synthesis problems into pure motion synthesis ones. We use an efficient algebraic fitting based motion synthesis algorithm to enable simultaneous type and dimensional synthesis of planar four-bar linkages.
A Motion Synthesis Approach to Solving Alt-Burmester Problem by Exploiting Fourier Descriptor Relationship Between Path and Orientation Data
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 29, 2018; final manuscript received November 15, 2018; published online December 17, 2018. Assoc. Editor: Andrew P. Murray.
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Sharma, S., Purwar, A., and Jeffrey Ge, Q. (December 17, 2018). "A Motion Synthesis Approach to Solving Alt-Burmester Problem by Exploiting Fourier Descriptor Relationship Between Path and Orientation Data." ASME. J. Mechanisms Robotics. February 2019; 11(1): 011016. https://doi.org/10.1115/1.4042054
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