Related papers: Singular Curves in the Joint Space and Cusp Points…
Two Magma functions are given: one computes linear systems of plane curves with non-ordinary singularities and the other computes a scheme which parametrizes given degree plane curves with given singularities. These functions provide an…
We study isolated points on the modular curves $X_{H}$, for $H$ a subgroup of $\operatorname{GL}_{2}(\mathbb{Z}/n \mathbb{Z})$ for some $n \geq 1$. In particular, we prove a single-sink theorem for such isolated points, which traces the…
We study determining the posture of an in-parallel planar manipulator, which has three connectors composed of revolute, prismatic and revolute joints, from specified active joint variables. We construct an ideal in the field of complex…
In the paper, we investigate properties of the nine-dimensional variety of the inflection points of the plane cubic curves. The description of local monodromy groups of the set of inflection points near singular cubic curves is given. Also,…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
In this paper we consider convex improper affine maps of the 3-dimensional affine space and classify their singularities. The main tool developed is a generating family with properties that closely resembles the area function for non-convex…
We study parametric equations, which describe the position of an in-parallel planar manipulator. We discuss isometries in the Gauss plane, then we write the loop-closure equations in terms of the rotations as the parameters.
In this paper we focus on various aspects of singular complex plane curves, mostly in the context of their homological properties and the associated combinatorial structures. We formulate some challenging open problems that can point to new…
The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…
We study parallel surfaces and dual surfaces of cuspidal edges. We give concrete forms of principal curvature and principal direction for cuspidal edges. Moreover, we define ridge points for cuspidal edges by using those. We clarify…
For generic maps from compact surfaces with boundary into the plane we develop an explicit algorithm for minimizing both the number of cusps and the number of components of the singular locus. More precisely, we minimize among maps with…
In this paper we discuss the relationship between the moving planes of a rational parametric surface and the singular points on it. Firstly, the intersection multiplicity of several planar curves is introduced. Then we derive an equivalent…
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…
In this paper, we consider rational cuspidal plane curves having at least three cusps. We give an upper bound of the self-intersection number of the proper transforms of such curves via the minimal embedded resolution of the cusps. For a…
We give a method of counting the number of curves with a given type of singularity in a suitably ample linear series on a smooth surface using punctual Hilbert schemes. The types of singulaties for which our methods suffice include the…
We study singularities of Gauss maps of fronts and give characterizations of types of singularities of Gauss maps by geometric properties of fronts which are related to behavior of bounded principal curvatures. Moreover, we investigate…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
We obtain the bifurcation of some special curves on generic 1-parameter families of surfaces in the Minkowski 3-space. The curves treated here are the locus of points where the induced pseudo metric is degenerate, the discriminant of the…
It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by choosing appropriate joint configurations for…
We exhibit planar, rational curves of large degree over ${\mathbb F}_2$ that have a unique singular point, which has multiplicity 2. In characteristic 0 such curves exist only for degrees up to $6$. v.2: references updated and examples of…