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Title: The Non-uniform Covering Approach to Manipulator Workspace Assessment
Authors: Rybak, L.
Evtushenko, Yu.
Posypkin, M.
Turkin, A.
Keywords: Authors of BSTU
Systems of non-linear inequalities
Robot’s working area
Issue Date: 2017
Publisher: Published by Atlantis Press
Abstract: In this paper we propose a method for solving systems of nonlinear inequalities with predefined accuracy based on nonuniform covering concept formerly adopted for global optimization. The method generates inner and outer approximations of the solution set. We describe the general concept and three ways of numerical implementation of the method. The first one is applicable only in a few cases when a minimum and a maximum of the constraints convolution function can be found analytically. The second implementation uses a global optimizationmethod to find extrema of the constraints convolution function numerically. The third one is based on extrema approximation with Lipschitz under- and overestimations. We obtain theoretical bounds on the complexity and the accuracy of the generated approximations as well as compare proposed approaches theoretically and experimentally.
Description: The Non-uniform Covering Approach to Manipulator Workspace Assessment / L. Rybak [et al.] // Proceeding of the 2017 IEEE Russia Section Young Researchers in Electrical and Electronic Engineering Conference. St. Petersburg . - 2017. - 1-3 February. - P. 386-389.
Appears in Collections:Mechanical-engineering technology. Robotic technology and mechatronic

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