Related papers: S\'eparation des Solutions aux Mod\`eles G\'eom\'e…
This paper proposes a novel inverse kinematics (IK) solver of articulated robotic systems for path planning. IK is a traditional but essential problem for robot manipulation. Recently, data-driven methods have been proposed to quickly solve…
A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
Discretizations of infinite-dimensional variational inequalities lead to linear and nonlinear complementarity problems with many degrees of freedom. To solve these problems in a parallel computing environment, we propose two active-set…
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
Metamodeling is used as a general technique for integrating and defining models from different domains. This technique can be used in diverse application domains, especially for purposes of standardization. Also, this process mainly has a…
Modern CAD tools represent 3D designs not only as geometry, but also as a program composed of geometric operations, each of which depends on a set of parameters. Program representations enable meaningful and controlled shape variations via…
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 paper concerns with some of the results related to the singular solutions of certain types of non-linear integrable differential equations (NIDE) and behavior of the singularities of those equations. The approach heavily relies on the…
Various versions of the Dynamical Systems Method (DSM) are proposed for solving linear ill-posed problems with bounded and unbounded operators. Convergence of the proposed methods is proved. Some new results concerning discrepancy principle…
The inverse kinematics (IK) problem of continuum robots has been investigated in depth in the past decades. Under the constant-curvature bending assumption, closed-form IK solution has been obtained for continuum robots with variable…
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…
Non-self-adjoint second-order ordinary differential operators on a finite interval with complex weights are studied. Properties of spectral characteristics are established and the inverse problem of recovering operators from their spectral…
The main objective of this work is to describe a general and original approach for computing an off-line solution for a set of parameters describing the geometry of the domain. That is, a solution able to include information for different…
The formalism which has been developed to give general expressions for the determinants of differential operators is extended to the physically interesting situation where these operators have a zero mode which has been extracted. In the…
We introduce an $\mathcal{M}$-operator approach to establish the uniqueness of continuous or bounded solutions for a broad class of Landau-type nonlinear kinetic equations. The specific $\mathcal{M}$-operator, originally developed in [3],…
We assign some kind of invariant manifolds to a given integrable PDE (its discrete or semi-discrete variant). First, we linearize the equation around its arbitrary solution $u$. Then we construct a differential (respectively, difference)…