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Document type:
Zeitschriftenaufsatz 
Author(s):
Somani, Nikhil; Rickert, Markus; Knoll, Alois 
Title:
An Exact Solver for Geometric Constraints with Inequalities 
Abstract:
CAD/CAM approaches have been used in the manufacturing industry for a long time, and their use in robotic systems is becoming more popular. One common element in these approaches is the use of geometric constraints to define relative object poses. Hence, approaches for solving these geometric constraints are critical to their performance. In this work, we present an exact solver for geometric constraints. Our approach is based on mathematical models of constraints and geometric properties of con...    »
 
Journal title:
IEEE Robotics and Automation Letters 
Year:
2017 
Journal volume:
Month:
Apr 
Journal issue:
Pages contribution:
1148--1155 
Notes:
Accepted for presentation at ICRA 2017