A Line Geometric Approach to Kinematic Acquisition of Geometric Constraints of Planar Motion

Abstract

This paper examines the problem of geometric constraints acquisition of planar motion through a line-geometric approach. In previous work, we have investigated the problem of identifying point-geometric constraints associated with a motion task which is given in a parametric or discrete form. In this paper, we seek to extend the point-centric approach to the line-centric approach. The extracted geometric constraints can be used directly for determining the type and dimensions of a physical device such as mechanical linkage that generates this constrained motion task.