Related papers: Uniqueness Domains in the Workspace of Parallel Ma…
Many tasks in geometry processing are modeled as variational problems solved numerically using the finite element method. For solid shapes, this requires a volumetric discretization, such as a boundary conforming tetrahedral mesh.…
We introduce the notion of domains with uniform squeezing property, study various analytic and geometric properties of such domains and show that they cover many interesting examples, including Teichmuller spaces and Hermitian symmetric…
This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. Then a new performance index based…
We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving…
Inverse kinematics is an important and challenging problem in the operation of industrial manipulators. This study proposes a simple inverse kinematics calculation scheme for an industrial serial manipulator. The proposed technique can…
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a…
Many physical problems involving heterogeneous spatial scales, such as the flow through fractured porous media, the study of fiber-reinforced materials, or the modeling of the small circulation in living tissues -- just to mention a few…
Controlling robotic manipulators with high-dimensional action spaces for dexterous tasks is a challenging problem. Inspired by human manipulation, researchers have studied generating and using postural synergies for robot hands to…
In view of the existing limitations of sequential computing, parallelization has emerged as an alternative in order to improve the speedup of numerical simulations. In the framework of evolutionary problems, space-time parallel methods…
Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path…
Joint spectra of tuples of operators are subsets in complex projective space. The corresponding tuple of operators can be viewed as an infinite dimensional analog of a determinantal representation of the joint spectrum. We investigate the…
Surgical domain models improve workflow optimization through automated predictions of each staff member's surgical role. However, mounting evidence indicates that team familiarity and individuality impact surgical outcomes. We present a…
In this work is considered a spectral problem, involving a second order term on the domain boundary: the Laplace-Beltrami operator. A variational formulation is presented, leading to a finite element discretization. For the Laplace-Beltrami…
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or…
This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation…
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by…
Rehabilitation tasks demand robust and accurate trajectory-tracking performance, mainly achieved with parallel robots. In this field, limiting the value of the force exerted on the patient is crucial, especially when an injured limb is…
The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with…
Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While reactive methods excel in dynamic settings, they struggle…
This paper explores the Invariant Subspace Problem in operator theory and functional analysis, examining its applications in various branches of mathematics and physics. The problem addresses the existence of invariant subspaces for bounded…