Abstract: The exact position analysis of a planar mechanism reduces to compute the roots of its characteristic polynomial. Obtaining this polynomial almost invariably involves, as a first step, obtaining ...

Abstract: The resection problem consists in finding the location of an observer by measuring the angles subtended by lines of sight from this observer to three known stations. Many researchers and practitioners recognize that ...

Abstract: This paper shows how to generate underactuated manipulators by substituting nonholonomic spherical pairs for (holonomic) spherical pairs in ordinary (i.e. not underactuated) manipulators. As a case ...