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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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
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