Modeling and tracking line-constrained mechanical systems

B. Rosenhahn; T. Brox; D. Cremers; H. P. Seidel

doi:10.1007/978-3-540-78157-8_8

Modeling and tracking line-constrained mechanical systems

B. Rosenhahn, T. Brox, D. Cremers, H. P. Seidel

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This work deals with modeling and tracking of mechanical systems which are given as kinematic chains with restricted degrees of freedom. Such systems may involve many joints, but due to additional restrictions or mechanical properties the joints depend on each other. So-called closed-chain or parallel manipulators are examples for kinematic chains with additional constraints. Though the degrees of freedom are limited, the complexity of the dynamic equations increases rapidly when studied analytically. In this work, we suggest to avoid this kind of analytic integration of interconnection constraints and instead to model them numerically via soft constraints.

Original language	English
Title of host publication	Robot Vision - Second International Workshop, RobVis 2008, Proceedings
Pages	98-110
Number of pages	13
DOIs	https://doi.org/10.1007/978-3-540-78157-8_8
State	Published - 2008
Externally published	Yes
Event	2nd International Workshop on Robot Vision, RobVis 2008 - University of Auckland, New Zealand Duration: 18 Feb 2008 → 20 Feb 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4931 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	2nd International Workshop on Robot Vision, RobVis 2008
Country/Territory	New Zealand
City	University of Auckland
Period	18/02/08 → 20/02/08

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10.1007/978-3-540-78157-8_8

Cite this

Rosenhahn, B., Brox, T., Cremers, D., & Seidel, H. P. (2008). Modeling and tracking line-constrained mechanical systems. In Robot Vision - Second International Workshop, RobVis 2008, Proceedings (pp. 98-110). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4931 LNCS). https://doi.org/10.1007/978-3-540-78157-8_8

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title = "Modeling and tracking line-constrained mechanical systems",

abstract = "This work deals with modeling and tracking of mechanical systems which are given as kinematic chains with restricted degrees of freedom. Such systems may involve many joints, but due to additional restrictions or mechanical properties the joints depend on each other. So-called closed-chain or parallel manipulators are examples for kinematic chains with additional constraints. Though the degrees of freedom are limited, the complexity of the dynamic equations increases rapidly when studied analytically. In this work, we suggest to avoid this kind of analytic integration of interconnection constraints and instead to model them numerically via soft constraints.",

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doi = "10.1007/978-3-540-78157-8_8",

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Rosenhahn, B, Brox, T, Cremers, D & Seidel, HP 2008, Modeling and tracking line-constrained mechanical systems. in Robot Vision - Second International Workshop, RobVis 2008, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4931 LNCS, pp. 98-110, 2nd International Workshop on Robot Vision, RobVis 2008, University of Auckland, New Zealand, 18/02/08. https://doi.org/10.1007/978-3-540-78157-8_8

Modeling and tracking line-constrained mechanical systems. / Rosenhahn, B.; Brox, T.; Cremers, D. et al.
Robot Vision - Second International Workshop, RobVis 2008, Proceedings. 2008. p. 98-110 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4931 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Cremers, D.

AU - Seidel, H. P.

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N2 - This work deals with modeling and tracking of mechanical systems which are given as kinematic chains with restricted degrees of freedom. Such systems may involve many joints, but due to additional restrictions or mechanical properties the joints depend on each other. So-called closed-chain or parallel manipulators are examples for kinematic chains with additional constraints. Though the degrees of freedom are limited, the complexity of the dynamic equations increases rapidly when studied analytically. In this work, we suggest to avoid this kind of analytic integration of interconnection constraints and instead to model them numerically via soft constraints.

AB - This work deals with modeling and tracking of mechanical systems which are given as kinematic chains with restricted degrees of freedom. Such systems may involve many joints, but due to additional restrictions or mechanical properties the joints depend on each other. So-called closed-chain or parallel manipulators are examples for kinematic chains with additional constraints. Though the degrees of freedom are limited, the complexity of the dynamic equations increases rapidly when studied analytically. In this work, we suggest to avoid this kind of analytic integration of interconnection constraints and instead to model them numerically via soft constraints.

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SN - 9783540781561

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T2 - 2nd International Workshop on Robot Vision, RobVis 2008

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Modeling and tracking line-constrained mechanical systems

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