In a pair of recent contributions by the authors of this paper, it has been shown that screw
theory can be successfully employed in the acceleration analysis of open and closed spatial …

A parallel manipulator is naturally associated with a set of constraint functions defined by its
closure constraints. The differential forms arising from these constraint functions completely …

This paper examines the current state of gyrostabilizer vehicular technology. With no
previous description of the wide range and variety of gyrostabilizer technology, this paper …

Disordered mechanical systems can deform along a network of pathways that branch and
recombine at special configurations called bifurcation points. Multiple pathways are …

It is well known that the velocity of the end effector of a serial chain can be written as a linear
combination of the screws that represent, with respect to an arbitrary coordinate system, the …

The furcation point in a mechanism is a salient feature of reconfigurable mechanisms and
change of a joint from an unconstrained condition to a geometrically constrained condition …

Disordered mechanical systems, when strongly deformed, have complex configuration
spaces with multiple stable states and pathways connecting them. The topology of such …

Singularity is a fundamental problem with robotic manipulators. Various methods of
singularity handling have been published in the past. In this paper, a singularity robust …

A new variable step (VS) method rapidly calculates continuous kinematic paths that
encounter singularities of a serial robot. Mitigating adverse effects of such encounters by …

The inverse kinematics problem is formulated as a parameterized autonomous dynamical
system problem, and respective analysis is carried out. It is shown that a singular point of …