Related papers: Singularity Distance Computations for 3-RPR Manipu…
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…
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…
Parallel robots (PRs) have singular configurations where the robot gains at least one degree of freedom and loses control. Theoretically, such singularity occurs when the Forward Jacobian-matrix determinant becomes zero (Type II). However,…
Isolating block and isolating neighborhood methods have previously been implemented to find transit trajectories and orbits around libration points in the autonomous circular restricted three-body problem. For some applications, the direct…
The bipartite matching problem is widely applied in the field of transportation; e.g., to find optimal matches between supply and demand over time and space. Recent efforts have been made on developing analytical formulas to estimate the…
This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular…
We study the effectiveness of metrics for Multi-Robot Motion-Planning (MRMP) when using RRT-style sampling-based planners. These metrics play the crucial role of determining the nearest neighbors of configurations and in that they regulate…
Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of the…
Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path…
In this paper a new fast algorithm for the computation of the distance of a matrix to a nearby defective matrix is presented. The problem is formulated following Alam & Bora (Linear Algebra Appl., 396 (2005), pp.~273--301) and reduces to…
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…
We study computational methods for computing the distance to singularity, the distance to the nearest high index problem, and the distance to instability for linear differential-algebraic systems (DAEs) with dissipative Hamiltonian…
In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean…
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…
To solve boundary integral equations for potential problems using collocation Boundary Element Method (BEM) on smooth curved 3D geometries, an analytical singularity extraction technique is employed. By adopting the isoparametric approach,…
With the increase in complexity of robotic systems and the rise in non-expert users, it can be assumed that task constraints are not explicitly known. In tasks where avoiding singularity is critical to its success, this paper provides an…
This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding…
Computational difficulty of quadratic matching and the Gromov-Wasserstein distance has led to various approximation and relaxation schemes. One of such methods, relying on the notion of distance profiles, has been widely used in practice,…
The MM principle is a device for creating optimization algorithms satisfying the ascent or descent property. The current survey emphasizes the role of the MM principle in nonlinear programming. For smooth functions, one can construct an…
The problem of finding the distance from a given $n \times n$ matrix polynomial of degree $k$ to the set of matrix polynomials having the elementary divisor $(\lambda-\lambda_0)^j, \, j \geqslant r,$ for a fixed scalar $\lambda_0$ and $2…