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02/17/2022
Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal
Cuspidal robots can travel from one inverse kinematic solution to anothe...
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08/31/2020
Robots, computer algebra and eight connected components
Answering connectivity queries in semi-algebraic sets is a long-standing...
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06/11/2019
Inverse Kinematics of Some General 6R/P Manipulators
We develop an algorithm that solves the inverse kinematics of general se...
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07/12/2017
Computing the number of realizations of a Laman graph
Laman graphs model planar frameworks which are rigid for a general choic...
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01/19/2017