Related papers: Higher-Order Flexible Configurations of Planar Par…
Integration over curved manifolds with higher codimension and, separately, discrete variants of continuous operators, have been two important, yet separate themes in harmonic analysis, discrete geometry and analytic number theory research.…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
With the widespread application of industrial robots, the problem of absolute positioning accuracy becomes increasingly prominent. To ensure the working state of the robots, researchers commonly adopt calibration techniques to improve its…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…
To construct a parallel approach for solving optimization problems with orthogonality constraints is usually regarded as an extremely difficult mission, due to the low scalability of the orthonormalization procedure. However, such demand is…
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 tackle the problem of building adaptive estimation procedures for ill-posed inverse problems. For general regularization methods depending on tuning parameters, we construct a penalized method that selects the optimal smoothing sequence…
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…
This work aims to accelerate the convergence of proximal gradient methods used to solve regularized linear inverse problems. This is achieved by designing a polynomial-based preconditioner that targets the eigenvalue spectrum of the normal…
This paper begins by extending the notion of a combinatorial configuration of points and lines to a combinatorial configuration of points and planes that we refer to as configurations of order $2$. We then proceed to investigate a further…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
We develop the tools to bound extreme roots of multivariate real zero polynomials globally. This is done through the use of a relaxation that approximates their rigidly convex sets. This relaxation can easily be constructed using the degree…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper design a novel 3-translation (3T) PM that has three advantages, i.e., 1) it…
A compliant parallel micromanipulator is a mechanism in which the moving platform is connected to the base through a number of flexural components. Utilizing parallel-kinematics configurations and flexure joints, the monolithic…
Specialized function gradient computing hardware could greatly improve the performance of state-of-the-art optimization algorithms, e.g., based on gradient descent or conjugate gradient methods that are at the core of control, machine…
Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the…
In some previous works, two of the authors introduced a technique to design high-order numerical methods for one-dimensional balance laws that preserve all their stationary solutions. The basis of these methods is a well-balanced…
The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly…