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The Kinematics of Containment for N-Dimensional Ellipsoids

Knowing the set of allowable motions of a convex body moving inside a slightly larger one is useful in applications such as automated assembly mechanisms, robot motion planning, etc. The theory behind this is called the “kinematics of containment (KC).” In this article, we show that when the convex bodies are ellipsoids, lower bounds of the KC volume can be constructed using simple convex constraint equations. In particular, we study a subset of the allowable motions for an n-dimensional ellipsoid being fully contained in another. The problem is addressed in both algebraic and geometric ways, and two lower bounds of the allowable motions are proposed. Containment checking processes for a specific configuration of the moving ellipsoid and the calculations of the volume of the proposed lower bounds in the configuration space (C-space) are introduced. Examples for the proposed lower bounds in the 2D and 3D Euclidean space are implemented, and the corresponding volumes in C-space are compared with different shapes of the ellipsoids. Practical applications using the proposed theories in motion planning problems and parts-handling mechanisms are then discussed.