Related papers: On homotopy continuation based singularity distanc…
The direct kinematics analysis is the foundation of implementation of real world application of parallel manipulators. For most parallel manipulators the direct kinematics is challenging. In this paper, for the first time a fast and…
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode…
While automatically generated polynomial elimination templates have sparked great progress in the field of 3D computer vision, there remain many problems for which the degree of the constraints or the number of unknowns leads to…
A linear pentapod is a parallel manipulator with five collinear anchor points on the motion platform (end-effector), which are connected via extendible legs to the base. This manipulator has five controllable degrees-of-freedom and the…
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…
The Restricted 3-Body Problem models the motion of a body of negligible mass under the gravitational influence of two massive bodies, called the primaries. If the primaries perform circular motions and the massless body is coplanar with…
This article develops a new predictor-corrector algorithm for numerical path tracking in the context of polynomial homotopy continuation. In the corrector step it uses a newly developed Newton corrector algorithm which rejects an initial…
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which…
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…
We study distance relations in various simplicial complexes associated with low-dimensional manifolds. In particular, complexes satisfying certain topological conditions with vertices as simple multi-curves. We obtain bounds on the…
The Restricted 3-Body Problem models the motion of a body of negligible mass under the gravitational influence of two massive bodies called the primaries. If one assumes that the primaries perform circular motions and that all three bodies…
Qualitative and quantitative aspects for variational inequalities governed by strongly pseudomonotone operators on Hilbert space are investigated in this paper. First, we establish a global error bound for the solution set of the given…
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…
Systems of polynomial equations arise frequently in computer vision, especially in multiview geometry problems. Traditional methods for solving these systems typically aim to eliminate variables to reach a univariate polynomial, e.g., a…
This paper investigates the existence conditions of cusp points in the design parameter space of the R\underline{P}R-2P\underline{R}R parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which can…
The homotopy continuation method has been widely used in solving parametric systems of nonlinear equations. But it can be very expensive and inefficient due to singularities during the tracking even though both start and end points are…
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 study the characterization of several distance problems for linear differential-algebraic systems with dissipative Hamiltonian structure. Since all models are only approximations of reality and data are always inaccurate, it is an…
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…
The exact computation of the matching distance for multi-parameter persistence modules is an active area of research in computational topology. Achieving an easily obtainable exact computation of this distance would permit multi-parameter…