相关论文: On the Configurations of Closed Kinematic Chains i…
A planar kinematic chain consists of $n$ links connected by joints. In this work we investigate the space of configurations, described in terms of joint angles, that guarantee that the kinematic chain is closed. We give explicit formulas…
In this paper, we study movements of simple polygonal chains in 3D. We say that an open, simple polygonal chain can be straightened if it can be continuously reconfigured to a straight sequence of segments in such a manner that both the…
In this paper, we study movements of simple polygonal chains in 3D. We say that an open, simple polygonal chain can be straightened if it can be continuously reconfigured to a straight sequence of segments in such a manner that both the…
Closed kinematic chains are created whenever multiple robot arms concurrently manipulate a single object. The closed-chain constraint, when coupled with robot joint limits, dramatically changes the connectivity of the configuration space.…
The configuration space of a mechanical linkage, consisting of rigid bodies moving in space constrained by joints, is defined by algebraic conditions. If these equations do not define a complete intersection, then the dimension of the…
We study spherical completeness of ball spaces and its stability under expansions. We give some criteria for ball spaces that guarantee that spherical completeness is preserved when the ball space is closed under unions of chains. This…
Extracting shape information from object bound- aries is a well studied problem in vision, and has found tremen- dous use in applications like object recognition. Conversely, studying the space of shapes represented by curves satisfying…
This study investigates the exact geometry of the configuration space in three-dimensional rotational motion planning. A parameterization of configuration space obstacles is derived for a given triangulated or ball-approximated scene with…
This paper studies the configuration spaces of linkages whose underlying graph is a single cycle. Assume that the edge lengths are such that there are no configurations in which all the edges lie along a line. The main results are that,…
A linkage mechanism consists of rigid bodies assembled by joints which can be used to translate and transfer motion from one form in one place to another. In this paper, we are particularly interested in a family of spacial linkage…
We estimate from below the number of lines meeting each of given 4 disjoint smooth closed curves in a given cyclic order in the real projective 3-space and in a given linear order in the Euclidean 3-space. Similarly, we estimate the number…
We study spherical completeness of ball spaces and its stability under expansions. We introduce the notion of an ultra-diameter, mimicking diameters in ultrametric spaces. We prove some positive results on preservation of spherical…
The entanglement of open curves in 3-space appears in many physical systems and affects their material properties and function. A new framework in knot theory was introduced recently, that enables to characterize the complexity of…
The internal space for a molecule, atom, or other n-body system can be conveniently parameterised by 3n-9 kinematic angles and three kinematic invariants. For a fixed set of kinematic invariants, the kinematic angles parameterise a…
In the first part of this work the classical and statistical aspects of the dynamics of an inextensible chain in three dimensions are investigated. In the second part the special case of a chain admitting only fixed angles with respect to…
In this work the dynamics of a freely jointed random chain with small masses attached to the joints is studied from a microscopic point of view. The chain is treated using a stringy approach, in which a statistical sum is performed over all…
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points,…
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…
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…
The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling…