Open AccessFSP (Full Space Parameterization), Version 2.0
Author(s) -
Göran Fries,
C.J. Hacker,
F.G. Pin
Publication year - 1995
Language(s) - English
Resource type - Reports
DOI - 10.2172/131162
Subject(s) - code (set theory) , computer science , context (archaeology) , space (punctuation) , algorithm , algebraic number , theoretical computer science , programming language , mathematics , mathematical analysis , paleontology , set (abstract data type) , biology , operating system
This paper describes the modifications made to FSPv1.0 for the Full Space Parameterization (FSP) method, a new analytical method used to resolve underspecified systems of algebraic equations. The optimized code recursively searches for the necessary number of linearly independent vectors that are necessary to form the solution space. While doing this, it ensures that all possible combinations of solutions are checked, if needed, and handles complications which arise due to particular cases. In addition, two particular cases which cause failure of the FSP algorithm were discovered during testing of this new code. These cases are described in the context of how they are recognized and how they are handled by the new code. Finally, testing was performed on the new code using both isolated movements and complex trajectories for various mobile manipulators