PuzzleFlex: kinematic motion of chains with loose joints
This method addresses kinematic motion analysis for applications like modular robots and mechanical systems, but it appears incremental as it builds on existing constraint-based approaches.
The paper tackles the problem of computing free motions in planar assemblies of rigid bodies with loose joints by modeling joints with local distance constraints and linearizing them into a linear programming formulation, enabling analysis of systems with thousands of bodies.
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows analysis of systems with thousands of rigid bodies. Potential applications include analysis of collections of modular robots, structural stability perturbation analysis, tolerance analysis for mechanical systems, and formation control of mobile robots.