Related papers: Analyse Comparative des Manipulateurs 3R \`a Axes …
We demonstrate an approach of exploring design spaces to simultaneously satisfy kinematics- and physics-based requirements. We present a classification of constraints and solvers to enable postponing optimization as far down the design…
Vertex operators, being families of birational transformations of infinite-dimensional algebraic ``varieties'' M, act on appropriate line bundles on M. However, they act on (meromorphic) sections only as_partial operators_: they are defined…
The space of the torsion (0,3)-tensors of the linear connections on almost contact manifolds with B-metric is decomposed in 15 orthogonal and invariant subspaces with respect to the action of the structure group. Three known connections,…
We determine the topological complexity of unordered configuration spaces on almost all punctured surfaces (both orientable and non-orientable). We also give improved bounds for the topological complexity of unordered configuration spaces…
We present a theoretical and numerical analysis of the kinematics for the "Transpressor", a cuspidal 6R robot. It admits up to 16 inverse kinematics solutions which are described geometrically. For special target poses, we provide the…
Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…
We introduce a novel harmonic superspace for $3d$ $\mathcal{N}=6$ superconformal field theories that is tailor made for the study of correlation functions of BPS operators. We calculate a host of two- and three-point functions in full…
Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers.…
This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed…
The article is devoted to the question whether the orbit space of a compact linear group is a topological manifold and a homological manifold. In the paper, the case of a simple three-dimensional group is considered. An upper bound is…
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the…
Surgical Scene Graphs abstract the complexity of surgical operating rooms (OR) into a structure of entities and their relations, but existing paradigms suffer from strictly dyadic structural limitations. Frameworks that predominantly rely…
In this paper we combine a survey of the most important topological properties of kinematic maps that appear in robotics, with the exposition of some basic results regarding the topological complexity of a map. In particular, we discuss…
We study the constraints of crossing symmetry and unitarity in general 3D Conformal Field Theories. In doing so we derive new results for conformal blocks appearing in four-point functions of scalars and present an efficient method for…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…
Imposing additional constraints on low-rank optimization has garnered growing interest. However, the geometry of coupled constraints hampers the well-developed low-rank structure and makes the problem intricate. To this end, we propose a…
Linear topological spaces with partial ordering (linear kinematics) are studied. They are defined by a set of 8 axioms implying that topology, linear structure and ordering are compatible with each other. Most of the results are valid for…
We classify rotational surfaces in a normed 3-space with rotationally symmetric norm whose principal curvatures satisfy a linear relation.
A common representation of a three dimensional object in computer applications, such as graphics and design, is in the form of a triangular mesh. In many instances, individual or groups of triangles in such representation need to satisfy…
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined empirically. In recent years, the development of robotic…