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The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
We propose a minimal interacting lattice model for two-dimensional class-$D$ higher-order topological superconductors with no free-fermion counterpart. A Lieb-Schultz-Mattis-type constraint is proposed and applied to guide our lattice model…
High rank solutions to the 2D Toda Lattice System are constructed simultaneously with the effective calculation of coefficients of the high rank commuting ordinary difference operators. Our technic is based on the study of discrete dynamics…
It is well-known that in an m-machine power system where each machine is represented by a second-order differential equation, the Jacobian of the system equation contains (m-1) pairs of conjugate eigenvalues and two real eigenvalues,…
We study resonances for Jacobi operators on the half lattice with matrix valued coefficient and finitely supported perturbations. We describe a forbidden domain, the geometry of resonances and their asymptotics when the main coefficient of…
In this article, we will construct an overconstrained closed-loop linkage consisting of four revolute and one cylindrical joint. It is obtained by factorization of a prescribed vertical Darboux motion. We will investigate the kinematic…
We describe all linear operators which maps $n-1$-dimensional simplex of idempotent measures to itself. Such operators divided to two classes: the first class contains all $n\times n$-matrices with non-negative entries which has at least…
The higher-order topological insulator (HOTI) is a new type of topological system which has special bulkedge correspondence compared with conventional topological insulators. In this work, we propose a scheme to realize Floquet HOTI in…
A planar kinematic chain consists of $n$ links connected by joints. In this work we investigate the space of configurations, described in terms of joint angles, that guarantee that the kinematic chain is closed. We give explicit formulas…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…
In this paper, we determine the charge lattice of mutually local Wilson and 't Hooft line operators for class S theories living on M5-branes wrapped on compact Riemann surfaces. The main ingredients of our analysis are the fundamental group…
In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new…
We are interested in studying moduli spaces of rank 2 logarithmic connections on elliptic curves having two poles. To do so, we investigate certain logarithmic rank 2 connections defined on the Riemann sphere and a transformation rule to…
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…
Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator…
This paper evaluates how laminated techniques may be used to replicate the performance of more traditionally manufactured robotic manipulators. In this case study, we introduce a laminated 2-DOF spherical, parallel manipulator. Taking…
We show that topological equivalence classes of circles in a two-dimensional square lattice can be used to design dynamical decoupling procedures to protect qubits attached on the edges of the lattice. Based on the circles of the…