相关论文: Linear Pentapods with a Simple Singularity Variety

The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…

A linear pentapod is a parallel manipulator with five collinear anchor points on the motion platform (end-effector), which are connected via extendible legs to the base. This manipulator has five controllable degrees-of-freedom and the…

The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also in a geometric meaningful index evaluating how far the robot design is away from being…

We give a full classification of all pentapods with linear platform possessing a self-motion beside the trivial rotation about the platform. Recent research necessitates a contemporary and accurate re-examination of old results on this…

A $configuration$ of a linkage $\Gamma$ is a possible positioning of $\Gamma$ in $\mathbb{R}^d$ and the collection of all such forms the configuration space $\mathcal{C}(\Gamma)$ of $\Gamma$. We here introduce the notion of the $symmetric…

Singularity analysis is essential in robot kinematics, as singular configurations cause loss of control and kinematic indeterminacy. This paper models singularities in bar frameworks as saddle points on constrained manifolds. Given an…

This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…

The understanding of mobile hexapods, i.e., parallel manipulators with six legs, is one of the driving questions in theoretical kinematics. We aim at contributing to this understanding by employing techniques from algebraic geometry. The…

This paper presents a study of the characterization of the singular manifold of the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. We consider a platform with base vertices in a circle and for which the…

Let $(\Sigma,p)$ be a pointed Riemann surface of genus $g\geq 1$. For any integer $k\geq 1$, we parametrize the space of meromorphic quadratic differentials on $\Sigma$ with a pole of order $(k+2)$ at $p$, having a connected critical graph…

In the realm of robotics, numerous downstream robotics tasks leverage machine learning methods for processing, modeling, or synthesizing data. Often, this data comprises variables that inherently carry geometric constraints, such as the…

Locally stable minimal hypersurface could have singularities in dimension $\geq 7$ in general, locally modeled on stable and area-minimizing cones in the Euclidean spaces. In this paper, we present different aspects of how these…

We show that all self-motions of pentapods with linear platform of Type 1 and Type 2 can be generated by line-symmetric motions. Thus this paper closes a gap between the more than 100 year old works of Duporcq and Borel and the extensive…

The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and…

Let $\Gamma$ be a subgroup of $PSL(2,R)$ generated by three parabolic transformations. The main goal of this paper is to present an algorithm to determine whether or not $\Gamma$ is discrete. Historically discreteness algorithms have been…

We study the topological and differentiable singularities of the configuration space C(\Gamma) of a mechanical linkage \Gamma in d-dimensional Euclidean space, defining an inductive sufficient condition to determine when a configuration is…

For Gamma a finite, connected metric graph, we consider the space of configurations of n points in Gamma with a restraint parameter r dictating the minimum distance allowed between each pair of points. These restricted configuration spaces…

Multi-robot motion planning is a hard problem. We investigate restricted variants of the problem where square robots are allowed to slide over an arbitrary curve to a new position only a constant number of times each. We show that the…

Motivated by advances is nanoscale applications and simplistic robot agents, we look at problems based on using a global signal to move all agents when given a limited number of directional signals and immovable geometry. We study a model…

The configuration space of the mechanism of a planar robot is studied. We consider a robot which has $n$ arms such that each arm is of length 1+1 and has a rotational joint in the middle, and that the endpoint of the $k$-th arm is fixed to…