Related papers: A Classification of 6R Manipulators

The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps that…

In this paper, we consider a special kind of overconstrained 6R closed linkages which we call angle-symmetric 6R linkages. These are linkages with the property that the rotation angles are equal for each of the three pairs of opposite…

This note extends Quillen's Theorem A to a large class of categories internal to topological spaces. This allows us to show that under a mild condition a fully faithful and essentially surjective functor between such topological categories…

Closed (and simply-connected) manifolds whose dimensions are greater than 4 are classified via sophisticated algebraic and abstract theory such as surgery theory and homotopy theory. It is difficult to handle 3 or 4-dimensional closed…

A novel result in $\mathbb Z_2$-equivariant homotopy theory is stated, proven, and applied to the topological classification of classically frustrated magnets in the presence of canonical time-reversal symmetry. This result generalizes a…

Both the gauge groups and $5$-manifolds are important in physics and mathematics. In this paper, we combine them together to study the homotopy aspects of gauge groups over $5$-manifolds. For principal bundles over non-simply connected…

We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the 3-subchains of the manipulator with a quasi-projective…

This paper is a continuation of our 2005 paper on complex topology and its implication on invertibility (or non-invertibility). In this paper, we will try to classify the complexity of inversion into 3 different classes. We will use…

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For every compact almost complex manifold (M,J) equipped with a J-preserving circle action with isolated fixed points, a simple algebraic identity involving the first Chern class is derived. This enables us to construct an algorithm to…

We give an alternative to Postnikov's homotopy classification of maps from 3-dimensional CW-complexes to homogeneous spaces G/H of Lie groups. It describes homotopy classes in terms of lifts to the group G and is suitable for extending the…

For any homotopy class h in any compact orientable 3-manifold M which is closed or has exclusively torus boundary components, we produce infinitely many pairs of distinct knots representing h with orientation-preserving homeomorphic…

Suppose M is a noncompact connected PL 2-manifold and let H(M)_0 denote the identity component of the homeomorphism group of M with the compact-open topology. In this paper we classify the homotopy type of H(M)_0 by showing that {\cal…

We give a homotopy classification of the global defects in ordered media, and explain it via the example of biaxial nematic liquid crystals, i.e., systems where the order parameter space is the quotient of the $3$-sphere $S^3$ by the…

We show that the homotopy type of a 4-manifold $M$ whose fundamental group is a finitely presentable $PD_3$-group $\pi$ and with $w_1(M)=w_1(\pi)$ is determined by $\pi$, $\pi_2(M)$, $k_1(M)$ and the equivariant intersection pairing…

This article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the…

We provide a complete classification of paradoxical closed-loop $n$-linkages, where $n\geq6$, of mobility $n-4$ or higher, containing revolute, prismatic or helical joints. We also explicitly write down strong necessary conditions for…

This expository article describes applications of topological configuration spaces to the control of robotic systems. In particular, we review recent work by the authors on configuration spaces of graphs. These are lovely spaces: we show…

We classify the normal CR structures on $S^3$ and their automorphism groups. Together with [3], this closes the classification of normal CR structures on contact 3-manifolds. We give a criterion to compare 2 normal CR structures, and we…

We construct a real combinatorial model for the configuration spaces of points of compact smooth oriented manifolds without boundary. We use these models to show that the real homotopy type of configuration spaces of a simply connected such…