Related papers: Higher-Order Flexible Configurations of Planar Par…
The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid…
In many applications, we need algorithms which can align partially overlapping point sets and are invariant to the corresponding transformations. In this work, a method possessing such properties is realized by minimizing the objective of…
We verify a conjecture on the structure of higher-rank numerical ranges for a wide class of unitary and normal matrices. Using analytic and geometric techniques, we show precisely how the higher-rank numerical ranges for a generic unitary…
The point-splitting regularization technique for composite operators is discussed in connection with anomaly calculation. We present a pedagogical and self-contained review of the topic with an emphasis on the technical details. We also…
Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed…
The group PGL(3) of linear transformations of the projective plane acts naturally on the projective space parametrizing curves of a given degree. In this note we begin the study of the orbits of smooth curves under this action: we construct…
The main aim of this work is to present two different methodologies for configuration averaging in disordered systems. The Recursion method is suitable for the calculation of spatial or self-averaging, while the Augmented space formalism…
In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in structured environments e.g. sorting mail in a mailroom or pick and place objects on a conveyor belt. In this work we are interested in settings…
This paper addresses the planar finger kinematics for seeking optimized manipulation strategies. The first step is to model based on geometric features of linear and rotation motion so that the robot can select the fingers configurations.…
In this paper, we present a generic parametrization of generically zero-dimensional parametric polynomial systems. More specifically, we study the specialization properties of the Rational Univariate Representation and derive bounds on the…
This paper proposes a novel formation maneuver control method for both 2-D and 3-D space, which enables the formation to translate, scale, and rotate with arbitrary orientation. The core innovation is the novel design of weights in the…
A new kind of six degree-of-freedom teaching manipulator without actuators is designed, for recording and conveniently setting a trajectory of an industrial robot. The device requires good gravity balance and operating force performance to…
We discuss the parallelization of algorithms for solving polynomial systems symbolically by way of triangular decomposition. Algorithms for solving polynomial systems combine low-level routines for performing arithmetic operations on…
Robot programming tools ranging from inverse kinematics (IK) to model predictive control (MPC) are most often described as constrained optimization problems. Even though there are currently many commercially-available second-order solvers,…
In recent years, there has been considerable interest in the transformative potential of additive manufacturing (AM) since it allows for producing highly customizable and complex components while reducing lead times and costs. The rise of…
In this paper we present a novel arbitrary-order discrete de Rham (DDR) complex on general polyhedral meshes based on the decomposition of polynomial spaces into ranges of vector calculus operators and complements linked to the spaces in…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
In this paper we present a novel approach for the prescription of high order boundary conditions when approximating the solution of the Euler equations for compressible gas dynamics on curved moving domains. When dealing with curved…
First-order automatic differentiation is a ubiquitous tool across statistics, machine learning, and computer science. Higher-order implementations of automatic differentiation, however, have yet to realize the same utility. In this paper I…