Related papers: Singularity Analysis of Lower-Mobility Parallel Ma…
This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the…
When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely, singular minimizing trajectories of the…
We investigate the effect of an additional modulation parameter $\delta$ on the mobility properties of quasiperiodic lattices described by a generalized Ganeshan-Pixley-Das Sarma model with two on site modulation parameters. For the case…
A geometric representation is found for the previously obtained path integral reduction Jacobian in Wiener-type path integral when quantizing a model mechanical system, which is used to describe the motion of two interacting scalar…
This work studies the Jacobians of certain singular transformations and the corresponding measures which support the jacobian computations.
In this paper, we consider several geometric inverse problems for linear elliptic systems. We prove uniqueness and stability results. In particular, we show the way that the observation depends on the perturbations of the domain. In some…
T-duality and its generalizations are widely recognized either as symmetries or solution-generating techniques in string theory. Recently introduced Jacobi-Lie T-plurality is based on Leibniz algebras whose structure constants ${f_{ab}}^c,…
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a…
This is a review of two of the fundamental tools for analysis of soliton equations: i) the algebraic ones based on Kac-Moody algebras, their central extensions and their dual algebras which underlie the Hamiltonian structures of the NLEE;…
Recently introduced Jacobi-Lie T-plurality turned out to be a solution-generating technique in string theory. Being based on Leibniz algebras instead of Drinfeld doubles, it can be understood as a generalization of Poisson-Lie T-plurality.…
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…
Two-dimensional Hamiltonian systems admitting second invariants which are quartic in the momenta are investigated using the Jacobi geometrization of the dynamics. This approach allows for a unified treatment of invariants at both arbitrary…
We investigate the relation between the backward uniqueness and the regularity of the coefficients for a parabolic operator. A necessary and sufficient condition for uniqueness is given in terms of the modulus of continuity of the…
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points,…
The local Euler obstructions and the Euler characteristics of linear sections with all hyperplanes on a stratified projective variety are key geometric invariants in the study of singularity theory. Despite their importance, in general it…
FRW cosmologies with conformally coupled scalar fields are investigated in a geometrical way by the means of geodesics of the Jacobi metric. In this model of dynamics, trajectories in the configuration space are represented by geodesics.…
A significant challenge in motion planning is to avoid being in or near \emph{singular configurations} (\textit{singularities}), that is, joint configurations that result in the loss of the ability to move in certain directions in task…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
We treat control of several two-level atoms interacting with one mode of the electromagnetic field in a cavity. This provides a useful model to study pertinent aspects of quantum control in infinite dimensions via the emergence of…
The main aim of this article is to establish an $L_p$-theory for elliptic operators on manifolds with singularities. The particular class of differential operators discussed herein may exhibit degenerate or singular behavior near the…