TOPOLOGY ANALYSIS OF CONFIGURATION SPACE OF PARALLEL MANIPULATORS

2002 ◽  
Vol 38 (08) ◽  
pp. 37 ◽  
Author(s):  
Yulie Wu
Keyword(s):  
Configuration Space ◽  
Parallel Manipulators ◽  
Topology Analysis

Computing the Configuration Space for Tracing Paths Between Assembly Modes

2010 ◽  
Vol 2 (3) ◽  
Author(s):  
Mónica Urízar ◽  
Víctor Petuya ◽  
Oscar Altuzarra ◽  
Erik Macho ◽  
Alfonso Hernández
Keyword(s):  
Path Planning ◽  
Range Of Motion ◽  
Configuration Space ◽  
Graphical Representation ◽  
Parallel Manipulators ◽  
Descriptive Study ◽  
General Methodology ◽  
Input And Output ◽  
All Solutions ◽  
Three Degree Of Freedom

In this paper, the authors present a general methodology for computing the configuration space for three-degree-of-freedom parallel manipulators so that the relation between input and output variables can be easily assessed. Making use of an entity called the reduced configuration space, all solutions of the direct kinematic problem in parallel manipulators are solved. The graphical representation of this entity enables the location of the direct kinematic solutions to be analyzed so as to make use of a wider operational workspace by means of path planning. A descriptive study is presented regarding the diverse possible paths that allow changing between direct kinematic solutions, thus, enlarging the manipulator’s range of motion.

Identification of Singularity Free Joint Rotation Space of Two-DOF Parallel Manipulators

1998 ◽  
Author(s):  
Xiaohong Dou ◽  
Kwun-Lon Ting
Keyword(s):  
Configuration Space ◽  
Parallel Manipulators ◽  
The Other ◽  
Joint Rotation ◽  
Logical Approach ◽  
Novel Approach

Abstract In this article, a novel approach is presented to identify the singularity free joint rotation space (JRS) of two-DOF seven-bar parallel manipulators. The configuration space of a seven-bar manipulator is expressed as joint rotation space sheets and each sheet may have one, two or four-sides. Each sheet represents a manipulator branch and each side of a sheet corresponds to a singularity free Joint rotation space. The article presents a logical approach to understand how the joint rotatability of one loop in a seven-bar manipulator is affected by the other loop, the formation of branches and its relationship to singularities. Based on the types of interaction between loops, manipulators are classified into three types. The paper offers an effective method to identify and understand the problems with branch and singularity of parallel manipulators. The concept and method can also be used in other types of parallel manipulators.

Obtaining configuration space and singularity maps for parallel manipulators

2009 ◽  
Vol 44 (11) ◽  
pp. 2110-2125 ◽  
Author(s):  
E. Macho ◽  
O. Altuzarra ◽  
E. Amezua ◽  
A. Hernandez
Keyword(s):  
Configuration Space ◽  
Parallel Manipulators

Topology Analysis on the National Wicked Problems Using Keyword Network

2020 ◽  
Vol 23 (5) ◽  
pp. 863-889
Author(s):  
Min-Young Lee ◽  
Jisung Yoon ◽  
Yongrae Cho ◽  
Woo-Sung Jung
Keyword(s):  
Wicked Problems ◽  
Topology Analysis ◽  
Keyword Network

scholarly journals Semi-Classical Localisation Properties of Quantum Oscillators on a Noncommutative Configuration Space

2015 ◽  
Vol 22 (04) ◽  
pp. 1550021 ◽  
Author(s):  
Fabio Benatti ◽  
Laure Gouba
Keyword(s):  
Phase Space ◽  
Configuration Space ◽  
Classical Limit ◽  
Coherent States ◽  
Point Of View ◽  
Quantum Mechanical ◽  
Wigner Functions ◽  
Quantum Mechanical Oscillators ◽  
Mechanical Oscillators ◽  
Space Noncommutativity

When dealing with the classical limit of two quantum mechanical oscillators on a noncommutative configuration space, the limits corresponding to the removal of configuration-space noncommutativity and position-momentum noncommutativity do not commute. We address this behaviour from the point of view of the phase-space localisation properties of the Wigner functions of coherent states under the two limits.

scholarly journals Topological representation of cloth state for robot manipulation

2021 ◽  
Author(s):  
Fabio Strazzeri ◽  
Carme Torras
Keyword(s):  
State Space ◽  
Configuration Space ◽  
Common Ground ◽  
Low Complexity ◽  
Flag Manifold ◽  
Infinite Dimensional ◽  
Articulated Objects ◽  
Research Goal ◽  
State Graphs ◽  
Deformable Materials

AbstractForty years ago the notion of configuration space (C-space) revolutionised robot motion planning for rigid and articulated objects. Despite great progress, handling deformable materials has remained elusive because of their infinite-dimensional shape-state space. Finding low-complexity representations has become a pressing research goal. This work tries to make a tiny step in this direction by proposing a state representation for textiles relying on the C-space of some distinctive points. A stratification of the configuration space for n points in the cloth is derived from that of the flag manifold, and topological techniques to determine adjacencies in manipulation-centred state graphs are developed. Their algorithmic implementation permits obtaining cloth state–space representations of different granularities and tailored to particular purposes. An example of their usage to distinguish between cloth states having different manipulation affordances is provided. Suggestions on how the proposed state graphs can serve as a common ground to link the perception, planning and manipulation of textiles are also made.

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