Titlebook: Computational Kinematics; Proceedings of the 5 Andrés Kecskeméthy,Andreas Müller Conference proceedings 2009 Springer-Verlag Berlin Heidelb

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Fast Distance Computation Using Quadratically Supported Surfacesed that the performance of this algorithm compares favourably with methods for computing the distance between two ellipsoids, which can also be used as bounding primitives for distance computation and collision detection.

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ectropion

On the Computation of the Home Posture of the McGill Schönflies-Motion Generatorassociated with the minimization of the condition number of the forward-kinematics Jacobian of the robot are derived in frame-invariant form. This form lends itself to geometric interpretations that would not be possible with lengthy componentwise expressions if commercial algebraic software packages were used.

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ion and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics..978-3-642-10188-5978-3-642-01947-0

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Closed-form Force Distribution for Parallel Wire Robotsuous along trajectories and differentiable at most of the points. The computational efforts are strictly bounded and small even for large numbers of wires. The algorithm is compared to other approaches for calculation of force distribution in terms of the numerical effort and their applicability for control purposes.