Abstract
An algorithm to obtain the solution of underconstrained rotation equations in the form of sets of values that the variables can take is given. Furthermore, an interval propagation algorithm is presented which permits obtaining the subsets of the solution that are compatible with a given interval for one of the variables. The propagation technique provides a way to take into account non-intersection constraints in the solution. In addition, propagation can be used to solve systems of rotation equations. Finally, it is shown how the algorithms described can be used in the solution of certain spatial problems, including 6-bar mechanisms.
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