Knowing the set of allowable motions of a convex body moving inside a slightly larger one is useful in applications such as automated assembly mechanisms, robot motion planning, etc. The theory behind this is called the “kinematics of containment (KC).” In this article, we show that when the convex bodies are ellipsoids, lower bounds of the KC volume can be constructed using simple convex constraint equations. In particular, we study a subset of the allowable motions for an n-dimensional ellipsoid being fully contained in another. The problem is addressed in both algebraic and geometric ways, and two lower bounds of the allowable motions are proposed. Containment checking processes for a specific configuration of the moving ellipsoid and the calculations of the volume of the proposed lower bounds in the configuration space (C-space) are introduced. Examples for the proposed lower bounds in the 2D and 3D Euclidean space are implemented, and the corresponding volumes in C-space are compared with different shapes of the ellipsoids. Practical applications using the proposed theories in motion planning problems and parts-handling mechanisms are then discussed.
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August 2019
Research-Article
The Kinematics of Containment for N-Dimensional Ellipsoids
Sipu Ruan,
Sipu Ruan
Department of Mechanical Engineering,
Baltimore, MD 21218
e-mail: ruansp@jhu.edu
The Johns Hopkins University
,Baltimore, MD 21218
e-mail: ruansp@jhu.edu
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Jianzhong Ding,
Jianzhong Ding
School of Mechanical Engineering and Automation,
Beijing 100191,
e-mail: jianzhongd@buaa.edu.cn
Beihang University
,Beijing 100191,
China
e-mail: jianzhongd@buaa.edu.cn
Search for other works by this author on:
Gregory S. Chirikjian
Gregory S. Chirikjian
1
Department of Mechanical Engineering,
Singapore 117575,
National University of Singapore
,Singapore 117575,
Singapore
;Department of Mechanical Engineering,
Baltimore, MD 21218
e-mail: gchirik1@jhu.edu
The Johns Hopkins University
,Baltimore, MD 21218
e-mail: gchirik1@jhu.edu
1Corresponding author.
Search for other works by this author on:
Sipu Ruan
Department of Mechanical Engineering,
Baltimore, MD 21218
e-mail: ruansp@jhu.edu
The Johns Hopkins University
,Baltimore, MD 21218
e-mail: ruansp@jhu.edu
Jianzhong Ding
School of Mechanical Engineering and Automation,
Beijing 100191,
e-mail: jianzhongd@buaa.edu.cn
Beihang University
,Beijing 100191,
China
e-mail: jianzhongd@buaa.edu.cn
Qianli Ma
Gregory S. Chirikjian
Department of Mechanical Engineering,
Singapore 117575,
National University of Singapore
,Singapore 117575,
Singapore
;Department of Mechanical Engineering,
Baltimore, MD 21218
e-mail: gchirik1@jhu.edu
The Johns Hopkins University
,Baltimore, MD 21218
e-mail: gchirik1@jhu.edu
1Corresponding author.
Paper presented at the ASME IDETC 2018, Quebec City, Quebec, Canada, ID: DETC2018-85851.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received October 30, 2018; final manuscript received April 4, 2019; published online May 17, 2019. Assoc. Editor: Xianwen Kong.
J. Mechanisms Robotics. Aug 2019, 11(4): 041005 (12 pages)
Published Online: May 17, 2019
Article history
Received:
October 30, 2018
Revision Received:
April 4, 2019
Accepted:
April 4, 2019
Citation
Ruan, S., Ding, J., Ma, Q., and Chirikjian, G. S. (May 17, 2019). "The Kinematics of Containment for N-Dimensional Ellipsoids." ASME. J. Mechanisms Robotics. August 2019; 11(4): 041005. https://doi.org/10.1115/1.4043458
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