Related papers: Singularity Analysis of Lower-Mobility Parallel Ma…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations are then found based on the…
The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized. On…
We control a broad class of singular (or "rough") Fourier multipliers by geometrically-defined maximal operators via general weighted $L^2(\mathbb{R})$ norm inequalities. The multipliers involved are related to those of Coifman--Rubio de…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
A brief sketch of computer methods of involutivity analysis of differential equations is presented in context of its application to study degenerate Lagrangian systems. We exemplify the approach by a detailed consideration of a…
On finite metric graphs we consider Laplace operators, subject to various classes of non-self-adjoint boundary conditions imposed at graph vertices. We investigate spectral properties, existence of a Riesz basis of projectors and similarity…
We study a single matrix oscillator with the quadratic Hamiltonian and deformed commutation relations. It is equivalent to the multispecies Calogero model in one dimension, with inverse-square two-body and three-body interactions.…
The purpose of this paper is to analyze in detail the Hamiltonian formulation for the compact Gowdy models coupled to massless scalar fields as a necessary first step towards their quantization. We will pay special attention to the coupling…
Curves in Lagrange Grassmannians naturally appear when one studies intrinsically "the Jacobi equations for extremals", associated with control systems and geometric structures. In this way one reduces the problem of construction of the…
It has become obvious that certain singular phenomena cannot be explained by a mere investigation of the configuration space, defined as the solution set of the loop closure equations. For example, it was observed that a particular 6R…
We develop a real-analytic framework, called perplex analysis, in which the complex, split-complex, and dual numbers arise as members of a single four-parameter family of two-dimensional commutative real algebras. Within this unified…
We investigate systems of equations, involving parameters from the point of view of both control theory and computer algebra. The equations might involve linear operators such as partial (q-)differentiation, (q-)shift, (q-)difference as…
Laplacian operators on finite compact metric graphs are considered under the assumption that matching conditions at graph vertices are of $\delta$ and $\delta'$ types. An infinite series of trace formulae is obtained which link together two…
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear…
We prove an analogue to the Cayley identity for an arbitrary self-adjoint operator in a Hilbert space. We also provide two new ways to characterize vectors belonging to the singular spectral subspace in terms of the analytic properties of…
The minimal degeneration singularities in the affine Grassmannians of simple simply-laced algebraic groups are determined to be either Kleinian singularities of type A, or closures of minimal orbits in nilpotent cones. The singularities for…
In this largely expository note, we discuss the mapping properties of the Laplacian (and other geometric elliptic operators) in spaces with an isolated conical singularity following the approach developed by B.-W. Schulze and collaborators.…
Recently, much of the existing work in manifold learning has been done under the assumption that the data is sampled from a manifold without boundaries and singularities or that the functions of interest are evaluated away from such points.…
We investigate the structure of the constraints on three-point correlation functions emerging when conformal invariance is imposed in momentum space and in arbitrary space-time dimensions, presenting a derivation of their solutions for…