Gröbner basis and resultant method for the forward displacement of 3-DoF planar parallel manipulators in seven-dimensional kinematic space

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2610-2628 ◽  
Author(s):  
Davood Naderi ◽  
Mehdi Tale-Masouleh ◽  
Payam Varshovi-Jaghargh
Keyword(s):  
Euclidean Space ◽  
Gröbner Basis ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Dimensional Euclidean Space ◽  
Grobner Basis ◽  
Kinematic Space ◽  
Forward Kinematic Problem ◽  
Forward Kinematic

SUMMARYIn this paper, the forward kinematic analysis of 3-degree-of-freedom planar parallel robots with identical limb structures is presented. The proposed algorithm is based on Study's kinematic mapping (E. Study, “von den Bewegungen und Umlegungen,” Math. Ann.39, 441–565 (1891)), resultant method, and the Gröbner basis in seven-dimensional kinematic space. The obtained solution in seven-dimensional kinematic space of the forward kinematic problem is mapped into three-dimensional Euclidean space. An alternative solution of the forward kinematic problem is obtained using resultant method in three-dimensional Euclidean space, and the result is compared with the obtained mapping result from seven-dimensional kinematic space. Both approaches lead to the same maximum number of solutions: 2, 6, 6, 6, 2, 2, 2, 6, 2, and 2 for the forward kinematic problem of planar parallel robots; 3-RPR, 3-RPR, 3-RRR, 3-RRR, 3-RRP, 3-RPP, 3-RPP, 3-PRR, 3-PRR, and 3-PRP, respectively.

scholarly journals Constructions of Maximum Few-Distance Sets in Euclidean Spaces

10.37236/8565 ◽  
2020 ◽  
Vol 27 (1) ◽  
Author(s):  
Ferenc Szöllősi ◽  
Patric R.J. Östergård
Keyword(s):  
Euclidean Space ◽  
Gröbner Basis ◽  
Dimensional Euclidean Space ◽  
Combined Approach ◽  
Euclidean Spaces ◽  
Grobner Basis ◽  
Finite Set ◽  
Distance Set ◽  
Distance Sets ◽  
Basis Computation

A finite set of vectors $\mathcal{X}$ in the $d$-dimensional Euclidean space $\mathbb{R}^d$ is called an $s$-distance set if the set of mutual distances between distinct elements of $\mathcal{X}$ has cardinality exactly $s$. In this paper we present a combined approach of isomorph-free exhaustive generation of graphs and Gröbner basis computation to classify the largest $3$-distance sets in $\mathbb{R}^4$, the largest $4$-distance sets in $\mathbb{R}^3$, and the largest $6$-distance sets in $\mathbb{R}^2$. We also construct new examples of large $s$-distance sets in $\mathbb{R}^d$ for $d\leq 8$ and $s\leq 6$, and independently verify several earlier results from the literature.

scholarly journals Constraint Equations for a Planar Parallel Platform

2021 ◽  
Author(s):  
◽  
Amani Ahmed Otaif
Keyword(s):  
Gröbner Basis ◽  
Linear Constraints ◽  
Grobner Basis ◽  
Real Solutions ◽  
Constraint Equations ◽  
Kinematic Mapping ◽  
Univariate Polynomials ◽  
Forward Kinematic Problem ◽  
Bézout’S Theorem ◽  
Forward Kinematic

<p>The aim of this thesis is to apply the Grünwald–Blaschke kinematic mapping to standard types of parallel general planar three-legged platforms in order to obtain the univariate polynomials which provide the solution of the forward kinematic problem. We rely on the method of Gröbner basis to reach these univariate polynomials. The Gröbner basis is determined from the constraint equations of the three legs of the platforms. The degrees of these polynomials are examined geometrically based on Bezout’s Theorem. The principle conclusion is that the univariate polynomials for the symmetric platforms under circular constraints are of degree six, which describe the maximum number of real solutions. The univariate polynomials for the symmetric platforms under linear constraints are of degree two, that describe the maximum number of real solutions.</p>

scholarly journals Constraint Equations for a Planar Parallel Platform

2021 ◽  
Author(s):  
◽  
Amani Ahmed Otaif
Keyword(s):  
Gröbner Basis ◽  
Linear Constraints ◽  
Grobner Basis ◽  
Real Solutions ◽  
Constraint Equations ◽  
Kinematic Mapping ◽  
Univariate Polynomials ◽  
Forward Kinematic Problem ◽  
Bézout’S Theorem ◽  
Forward Kinematic

<p>The aim of this thesis is to apply the Grünwald–Blaschke kinematic mapping to standard types of parallel general planar three-legged platforms in order to obtain the univariate polynomials which provide the solution of the forward kinematic problem. We rely on the method of Gröbner basis to reach these univariate polynomials. The Gröbner basis is determined from the constraint equations of the three legs of the platforms. The degrees of these polynomials are examined geometrically based on Bezout’s Theorem. The principle conclusion is that the univariate polynomials for the symmetric platforms under circular constraints are of degree six, which describe the maximum number of real solutions. The univariate polynomials for the symmetric platforms under linear constraints are of degree two, that describe the maximum number of real solutions.</p>

Unified Kinematic Analysis of General Planar Parallel Manipulators

2004 ◽  
Vol 126 (5) ◽  
pp. 866-874 ◽  
Author(s):  
M. J. D. Hayes ◽  
P. J. Zsombor-Murray ◽  
C. Chen
Keyword(s):  
Parallel Manipulators ◽  
Inverse Kinematic ◽  
Parallel Robots ◽  
Kinematic Mapping ◽  
Forward Kinematic Problem ◽  
Forward Kinematic ◽  
Three Degree Of Freedom ◽  
Generalized Constraint ◽  
First Time ◽  
Planar Parallel Manipulators

A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three-legged, three-degree-of-freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The inverse kinematic solutions, though trivial, are implicit in the formulation of the constraint surface equations. Herein the forward kinematic solutions of planar parallel robots with arbitrary, mixed leg architecture are exposed completely, and in a unified way, for the first time.

scholarly journals On a Question of Bourgain about Geometric Incidences

2008 ◽  
Vol 17 (4) ◽  
pp. 619-625 ◽  
Author(s):  
JÓZSEF SOLYMOSI ◽  
CSABA D. TÓTH
Keyword(s):  
Euclidean Space ◽  
Three Dimensional ◽  
Dimensional Euclidean Space ◽  
Geometric Incidences

Given a set of s points and a set of n2 lines in three-dimensional Euclidean space such that each line is incident to n points but no n lines are coplanar, we show that s = Ω(n11/4). This is the first non-trivial answer to a question recently posed by Jean Bourgain.

scholarly journals Orthogonal Isomorphic Representations Of Free Groups

1956 ◽  
Vol 8 ◽  
pp. 256-262 ◽  
Author(s):  
J. De Groot
Keyword(s):  
Euclidean Space ◽  
Free Groups ◽  
Three Dimensional ◽  
Rotation Group ◽  
Dimensional Euclidean Space ◽  
Orthogonal Matrices ◽  
Abelian Subgroups ◽  
Proper Orthogonal

1. Introduction. We consider the group of proper orthogonal transformations (rotations) in three-dimensional Euclidean space, represented by real orthogonal matrices (aik) (i, k = 1,2,3) with determinant + 1 . It is known that this rotation group contains free (non-abelian) subgroups; in fact Hausdorff (5) showed how to find two rotations P and Q generating a group with only two non-trivial relationsP2 = Q3 = I.

The Evaluation of Moments of Regions With Piecewise-Linearly Approximated Boundaries via Line Integration

1989 ◽  
Author(s):  
J. Angeles ◽  
M. J. Al-Daccak
Keyword(s):  
Euclidean Space ◽  
Three Dimensional ◽  
Inertia Tensor ◽  
Divergence Theorem ◽  
Dimensional Euclidean Space ◽  
Repeated Application ◽  
The Subject ◽  
First Moment

Abstract The subject of this paper is the computation of the first three moments of bounded regions imbedded in the three-dimensional Euclidean space. The method adopted here is based upon a repeated application of Gauss’s Divergence Theorem to reduce the computation of the said moments — volume, vector first moment and inertia tensor — to line integration. Explicit, readily implementable formulae are developed to evaluate the said moments for arbitrary solids, given their piecewise-linearly approximated boundary. An example is included that illustrates the applicability of the formulae.

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