Related papers: Constrained Motion Spaces of Robotic Arms
We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…
We prove that the homotopic distance between two maps defined on a manifold is bounded above by the sum of their subspace distances on the critical submanifol of any Morse-Bott function. This generalizes the Lusternik-Schnirelmann theorem…
In this paper, we shall compute the chain complex and the corresponding homology of some Morse function $f$ over integer coefficients. The definition of the correct boundary operator requires a careful construction of moduli space of…
We propose a first example of a simple classical field theory with nonholonomic constraints. Our model is a straightforward modification of a Cosserat rod. Based on a mechanical analogy, we argue that the constraint forces should be modeled…
The aim of this paper is to perform a deeper geometric analysis of problems appearing in dynamics of affinely rigid bodies. First of all we present a geometric interpretation of the polar and two-polar decomposition of affine motion. Later…
In this paper we introduce a common framework for describing the topological part of the Baum-Connes conjecture for a wide class of groups. We compute the Bredon homology for groups with aspherical presentation, one-relator quotients of…
A system with anholonomic constraints where the trajectories of physical degrees of freedom are autoparallels on a manifold equipped with a general Cartan connection is discussed. A variational principle for the autoparallel trajectories is…
We study orbits near collision in a non-autonomous restricted planar four-body problem. This restricted problem consists of a massless particle moving under the gravitational influence due to three bodies following the figure-eight…
The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can…
Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…
Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies on global properties of the interaction to succeed---rather…
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…
To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
Possible forms of obstructed atomic limits in quasi-one-dimensional systems are studied using line group symmetry. This is accomplished by revisiting the standard theory with an emphasis on its group-theoretical background, synthesizing 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…
The aim of this paper is to investigate the homology groups of mathematical models of concurrency. We study the Baues-Wirsching homology groups of a small category associated with a partial monoid action on a set. We prove that these groups…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…