Algebraic Geometry and Kinematics

DOI10.1007/978-1-4419-0999-2_4zbMath1185.70005OpenAlexW72701226MaRDI QIDQ5188769

Hans-Peter Schröcker, Manfred L. Husty

Publication date: 5 March 2010

Published in: Nonlinear Computational Geometry (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-1-4419-0999-2_4

zbMATH Keywords

singularitycomputational kinematicskinematic mappingself-motionparallel robotsynthesis of mechanismsserial robotconstraint variety

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Plane and space curves (14H50) Differential geometric aspects in kinematics (53A17)

Related Items (14)

Galois/Monodromy Groups for Decomposing Minimal Problems in 3D Reconstruction ⋮ Partial fraction decomposition for rational Pythagorean hodograph curves ⋮ Classification of higher mobility closed-loop linkages ⋮ Factorization of quaternionic polynomials of bi-degree \((n,1)\) ⋮ Kinematic generation of Darboux cyclides ⋮ The theory of bonds. II: Closed 6R linkages with maximal genus ⋮ Kempe's universality theorem for rational space curves ⋮ Compactification of the group of rigid motions and applications to robotics ⋮ An algebraic study of linkages with helical joints ⋮ Forward kinematic problem of 5-R\(\underline {\text P}\)UR parallel mechanisms (3T2R) with identical limb structures ⋮ Kinematical analysis of overconstrained and underconstrained mechanisms by means of computational algebraic geometry ⋮ Planar linkages following a prescribed motion ⋮ A multiplication technique for the factorization of bivariate quaternionic polynomials ⋮ Rational framing motions and spatial rational Pythagorean hodograph curves

Cites Work

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• Structural synthesis of serial platform manipulators
• Identification and classification of the singular configurations of mechanisms.
• Matrix groups and kinematics in projective spaces
• Geometric design of linkages
• Ein vierdimensionales Abbildungsprinzip für ebene Bewegungen
• Geometric Fundamentals of Robotics
• The Numerical Solution of Systems of Polynomials Arising in Engineering and Science
• Computational line geometry

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