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Perspectives on Enclosure Methods pp 181–198Cite as

Numerical Verification and Validation of Kinematics and Dynamical Models for Flexible Robots in Complex Environments

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Abstract

We give a survey on well-known and new interval methods and algorithms with result verification in the field of robotics. In particular we present optimal linear controller design, reliable geometric computations for distances between a point and a non-convex polyhedron or a NURBS curve, path planning, and failure detection with fault tree logic for flexible robots in complex environments. We also present an extension of a multi body modelling and simulating tool, which provides error propagation control and reliable numerical algorithms.

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Author information

Authors and Affiliations

  1. Gerhard-Mercator-University of Duisburg, D-47048, Duisburg, Germany

    Wolfram Luther, Eva Dyllong, Daniela Fausten, Werner Otten & Holger Traczinski

Authors
  1. Wolfram Luther
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  2. Eva Dyllong
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  3. Daniela Fausten
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  4. Werner Otten
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  5. Holger Traczinski
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Editor information

Editors and Affiliations

  1. Universität Karlsruhe, Institut für Angewandte Mathematik, Deutschland

    Ulrich Kulisch , Rudolf Lohner  & Axel Facius ,  & 

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© 2001 Springer-Verlag Wien

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Luther, W., Dyllong, E., Fausten, D., Otten, W., Traczinski, H. (2001). Numerical Verification and Validation of Kinematics and Dynamical Models for Flexible Robots in Complex Environments. In: Kulisch, U., Lohner, R., Facius, A. (eds) Perspectives on Enclosure Methods. Springer, Vienna. https://doi.org/10.1007/978-3-7091-6282-8_11

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  • DOI: https://doi.org/10.1007/978-3-7091-6282-8_11

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-83590-6

  • Online ISBN: 978-3-7091-6282-8

  • eBook Packages: Springer Book Archive

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