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Occupancy array-based kinematic reasoning

Lookup NU author(s): Professor Patrick OlivierORCiD


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This paper presents a technique for kinematic reasoning that is based on the use of occupancy arrays. A description is presented of the algorithm used and a prototype implementation which can reason about the behaviour of higher pairs, that is, parts such as cams and gears, with rotational or translational degrees of freedom. It is shown that by representing the spatial occupancy of objects using appropriately high-resolution occupancy arrays it is possible to reason about higher pair kinematic interactions between objects. Both free and blocked motion can be inferred, and an implementation, KAP, is reported that demonstrates the utility of this approach.

Publication metadata

Author(s): Olivier P, Ormsby A, Nakata K

Publication type: Article

Publication status: Published

Journal: Engineering Applications of Artificial Intelligence

Year: 1996

Volume: 9

Issue: 5

Pages: 541-549

Print publication date: 30/04/1999

ISSN (print): 0952-1976

ISSN (electronic): 1873-6769

Publisher: Elsevier


DOI: 10.1016/0952-1976(96)00043-7


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