Abstract: This paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective invariant ...

Abstract: The parameterization of rotations is a central topic in many theoretical and applied fields such as rigid body mechanics, multibody dynamics, robotics, spacecraft attitude dynamics, navigation, three-dimensional image ...

Abstract: The parameterization of rotations is a central topic in many theoretical and applied fields such as rigid body mechanics, multibody dynamics, robotics, spacecraft attitude dynamics, navigation, three-dimensional image ...

Abstract: In general, highorder coupler curves of singledegreeoffreedom plane linkages cannot be properly traced by standard predictor–corrector algorithms due to drifting problems and the presence of singularities. Instead of ...