Related papers: Planar Linkages Following a Prescribed Motion
An elementary proof is given to show that a parametrised algebraic curve in the plane may be traced out, in the sense of A. B. Kempe, by a finite pinned linkage. Additionally it is shown that any parametrised continuous curve \gamma: [0,1]…
A linkage is a finite graph with lengths assigned to each edge. A planar realization is a map to the plane which preserves edge lengths. It can be thought of as a mechanical device formed from stiff rods and rotating joints. We look at the…
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…
In this paper, we introduce LINKS, a dataset of 100 million one degree of freedom planar linkage mechanisms and 1.1 billion coupler curves, which is more than 1000 times larger than any existing database of planar mechanisms and is not…
Planar linkages are a rich area of study motivated by practical applications in engineering mechanisms. A central result is Kempe's Universality Theorem, which states that semi-algebraic sets can be realized by planar linkages. Polyhedral…
We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph…
Motion planning is a fundamental problem of robotics with applications in many areas of computer science and beyond. Its restriction to graphs has been investigated in the literature for it allows to concentrate on the combinatorial problem…
Recently N.A'Campo suggested a construction of a link from a generic immersion of a curve into a 2-disk. It is tightly related to the singularity theory. In this paper, we give a simple procedure to draw a diagram of the link from a picture…
Optimal linear-time algorithms for testing the planarity of a graph are well-known for over 35 years. However, these algorithms are quite involved and recent publications still try to give simpler linear-time tests. We give a simple…
A plane curve is a knot diagram in which each crossing is replaced by a 4-valent vertex, and so are dual to a subset of planar quadrangulations. The aim of this paper is to introduce a new tool for sampling diagrams via sampling of plane…
Given a generic rational curve $C$ in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly $C$. Our construction is based on the factorization of polynomials over dual…
For a polygonal linkage, we produce a fast navigation algorithm on its configuration space. The basic idea is to approximate the configuration space by the vertex-edge graph of its cell decomposition discovered by the first author. The…
A method is proposed for defining an arbitrary number of differential calculi over a given noncommutative associative algebra. As an example the generalized quantum plane is studied. It is found that there is a strong correlation, but not a…
We present a conjecture for the power-law exponent in the asymptotic number of types of plane curves as the number of self-intersections goes to infinity. In view of the description of prime alternating links as flype equivalence classes of…
In this paper, we intend to present a new algorithm to factorize large numbers. According to the algorithm proposed here, we prove that there is a common factor between p and q. With this procedure, the time of factorization considerably…
We consider the problem of answering connectivity queries on a real algebraic curve. The curve is given as the real trace of an algebraic curve, assumed to be in generic position, and being defined by some rational parametrizations. The…
By variational methods, we prove existence of planar closed curves with prescribed curvature for some classes of curvature functions. The main difficulty is to obtain bounded Palais-Smale sequences. This is achieved by adding a parameter in…
We give an algorithm for approximating a given plane curve segment by a planar elastic curve. The method depends on an analytic representation of the space of elastic curve segments, together with a geometric method for obtaining a good…
Converting a parametric curve into the implicit form, which is called implicitization, has always been a popular but challenging problem in geometric modeling and related applications. However, the existing methods mostly suffer from the…
The problem of enumerating meanders -- pairs of simple plane curves with transverse intersections -- was formulated about forty years ago and is still far from solved. Recently, it was discovered that meanders admit a factorization into…