Related papers: Hyperbolic pseudoinverses for kinematics in the Eu…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
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,…
Polynomial invariants for robot manipulators and their joints arise from the adjoint action of the Euclidean group on its Lie algebra, the space of infinitesimal twists or screws. The aim of this paper is to determine basic sets of…
Tracking Cartesian motion with end~effectors is a fundamental task in robot control. For motion that is not known in advance, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses.…
This paper continues a geometric study of Harvey's Complex of Curves, whose ultimate goal is to apply the theory of hyperbolic spaces and groups to algorithmic questions for the Mapping Class Group and geometric properties of Kleinian…
By analogy with complex numbers, a system of hyperbolic numbers can be introduced in the same way: z=x+h*y with h*h=1 and x,y real numbers. As complex numbers are linked to the Euclidean geometry, so this system of numbers is linked to the…
A non-zero element of the Lie algebra $\mathfrak{se}(3)$ of the special Euclidean spatial isometry group $SE(3)$ is known as a {\em twist} and the corresponding element of the projective Lie algebra is termed a {\em screw}. Either can be…
A model invariant under a supersymmetric extension of the rotation group O(3) is mapped, using a stereographic projection, from the spherical surface S2 to two dimensional Euclidean space. The resulting model does not have a manifest local…
This text presents some basic notions in symplectic geometry, Poisson geometry, Hamiltonian systems, Lie algebras and Lie groups actions on symplectic or Poisson manifolds, momentum maps and their use for the reduction of Hamiltonian…
We consider tilings of Euclidean spaces by polygons or polyhedra, in particular, tilings made by a substitution process, such as the Penrose tilings of the plane. We define an isomorphism invariant related to a subgroup of rotations and…
A concrete representation of the Clifford algebra (for any hyperbolic quadratic space) is given using what are called Suslin matrices. This explicit construction is used to analyze the corresponding Spin groups and the involution and might…
Wigner's unitary representation of the Lorentz group is extended to a representation of the complex orthosymplectic Lie super group OSp_C(1|2) acting on Minkowski (3,1|4)-dimensional super space essentially by Hermitean conjugation. The…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…
Traditionally, robots are regarded as universal motion generation machines. They are designed mainly by kinematics considerations while the desired dynamics is imposed by strong actuators and high-rate control loops. As an alternative, one…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character…
It is well-understood that the robustness of mechanical and robotic control systems depends critically on minimizing sensitivity to arbitrary application-specific details whenever possible. For example, if a system is defined and performs…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
A superintegrable system is, roughly speaking, a system that allows more integrals of motion than degrees of freedom. This review is devoted to finite dimensional classical and quantum superintegrable systems with scalar potentials and…