相关论文: Computer-Aided Design of Rational Motions for 4R a…

In this paper, a set of tools is introduced that simplifies the synthesis and rapid-prototyping of single-loop rational kinematic chains. It allows the user to perform rational motion interpolation of up to four given poses and yields the…

We use the recently introduced factorization theory of motion polynomials over the dual quaternions for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. Our approach admits either no or a…

This paper presents a smooth trajectory generation method for a four-degree-of-freedom parallel kinematic milling robot. The proposed approach integrates B-spline and Quaternion interpolation techniques to manage decoupled position and…

Given a generic rational curve $C$ in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly $C$. Our construction is based on the factorization of polynomials over dual…

In this paper, we formulate the problem of kinematic synthesis for planar linkages as a cross-domain image generation task. We develop a planar linkages dataset using RGB image representations, covering a range of mechanisms: from simple…

Dimensional synthesis of planar four-bar mechanisms is a challenging inverse problem in kinematics, requiring the determination of mechanism dimensions from desired motion specifications. We propose a data-driven framework that bypasses…

This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct…

We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph…

The paper presents an optimal synthesis of overconstrained linkages, based on the factorization of rational curves (representing one parametric motions) contained in Study's quadric. The group of Euclidean displacements is embedded in a…

In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories…

We present an algorithm to compute all factorizations into linear factors of univariate polynomials over the split quaternions, provided such a factorization exists. Failure of the algorithm is equivalent to non-factorizability for which we…

Motion polynomials (polynomials over the dual quaternions with nonzero real norm) describe rational motions. We present a necessary and sufficient condition for reduced bounded motion polynomials to admit factorizations into monic linear…

The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms and parallel kinematic architectures.…

Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

In this paper, we construct two types of 7R closed single loop linkages by combining different factorizations of a general (non-vertical) Darboux motion. These factorizations are obtained by extensions of a factorization algorithm for a…

Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…

As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…

Computer-aided design (CAD) significantly enhances the efficiency, accuracy, and innovation of design processes by enabling precise 2D and 3D modeling, extensive analysis, and optimization. Existing methods for creating CAD models rely on…

This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…