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This paper explores the possibility of approximating a surface by a trihedral polygonal mesh plus some triangles at strategic places. The presented approximation has several attractive properties. It turns out that the Z-coordinates of the vertices are completely governed by the Z-coordinates assigned to four selected ones. This allows describing the spatial polygonal mesh with just its 2D projection...
This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each singularity type is given. Using a numerical method based on linear relaxations, the configurations in each type are computed independently. The method is general and complete: it can...
This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a configuration space path that maintains a minimum clearance with respect to the singularity locus at all points. The method is resolution-complete, in the sense that it always returns...
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