Related papers: SINGULAB - A Graphical user Interface for the Sing…
This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel…
This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Pl\"ucker vector of lines (finite and infinite) constituting the rows of the…
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using…
In this paper, we introduce a novel parallel contact algorithm designed to run efficiently in High-Performance Computing based supercomputers. Particular emphasis is put on its computational implementation in a multiphysics finite element…
Answering connectivity queries in semi-algebraic sets is a long-standing and challenging computational issue with applications in robotics, in particular for the analysis of kinematic singularities. One task there is to compute the number…
The aim of this paper is to give a detailed examination of the input and output singularities of a 3-RUU parallel manipulator in the translational operation mode. This task is achieved by using algebraic constraint equations. For this type…
This is a user guide for the first version of our developed Maple library, named Singularity. The first version here is designed for the qualitative study of local real zeros of scalar smooth maps. This library will be extended for symbolic…
The design and implementation of parallel algorithms is a fundamental task in computer algebra. Combining the computer algebra system Singular and the workflow management system GPI-Space, we have developed an infrastructure for massively…
We present an algorithmic embedded desingularization of arithmetic surfaces bearing in mind implementability. Our algorithm is based on work by Cossart-Jannsen-Saito, though our variant uses a refinement of the order instead of the…
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and…
Articulated robots such as manipulators increasingly must operate in uncertain and dynamic environments where interaction (with human coworkers, for example) is necessary. In these situations, the capacity to quickly adapt to unexpected…
In this work we present a dynamic analysis tool for analyzing regions of code and how those regions depend between each other via data dependencies encountered during the execution of the program. We also present an abstract method to…
The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also in a geometric meaningful index evaluating how far the robot design is away from being…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
Multivariate problems are typically governed by anisotropic features such as edges in images. A common bracket of most of the various directional representation systems which have been proposed to deliver sparse approximations of such…
The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it…
We introduce SOFIA, a Mathematica package that automatizes the computation of singularities of Feynman integrals, based on new theoretical understanding of their analytic structure. Given a Feynman diagram, SOFIA generates a list of…
This paper proposes a new design method to determine the feasible set of parameters of translational or position/orientation decoupled parallel robots for a prescribed singularity-free workspace of regular shape. The suggested method uses…
We reformulate the analysis of singularities of Feynman integrals in a way that can be practically applied to perturbative computations in the Standard Model in dimensional regularization. After highlighting issues in the textbook treatment…