Abstract: This paper deals with the problem of synthesizing piecewise rational motions of an object that satisfies kinematic constraints imposed by a planar robot arm with revolute joints. This paper ...

Abstract: This paper deals with the problem of synthesizing smooth piecewise rational spherical motions of an object that satisfies the kinematic constraints imposed by a spherical robot arm with revolute ...

Abstract: The work reported in this paper brings together the kinematics of spherical closed chains and the recently developed free-form rational motions to study the problem of synthesizing rational ...