@inproceedings{d9b58f1be4024f8bbc2f0a6bf83b19a5,
title = "A novel approach to algebraic fitting of a pencil of quadrics for planar 4r motion synthesis",
abstract = "The use of the image space of planar displacements for planar motion approximation is a well studied subject. While the constraint manifolds associated with planar four-bar linkages are algebraic, geometric (or normal) distances have been used as default metric for least-squares fitting of these algebraic manifolds. This paper studies the problem of using algebraic distance for least-squares fitting of quadrics defining the constraint manifolds associated with Planar 4R mechanisms. It shows that the problem can be solved by fitting a pencil of quadrics with linear coefficients to a set of image points of a given one dimensional set of displacements. This linear formulation leads to a simple and fast algorithm for kinematic synthesis in the image space.",
author = "Ge, \{Q. J.\} and Ping Zhao and Anurag Purwar and Xiangyun Li",
year = "2012",
doi = "10.1115/1.4007447",
language = "English",
isbn = "9780791845035",
series = "Proceedings of the ASME Design Engineering Technical Conference",
publisher = "American Society of Mechanical Engineers (ASME)",
number = "PARTS A AND B",
pages = "1587--1596",
booktitle = "36th Mechanisms and Robotics Conference",
edition = "PARTS A AND B",
note = "ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 ; Conference date: 12-08-2012 Through 12-08-2012",
}