The presented article analyses structures of kinematic chains in industrial robots, i.e. their positioning and orientation mechanisms with respect to positioning of end effectors within the workspace of parallel kinematic machine and in its vicinity with the aim to facilitate a selection of appropriate industrial robot for automatic in – between operational manipulation in the periphery of such...

We prove two principal kinematic formulas for germs of closed definable sets in Rn, that generalize the Cauchy-Crofton formula density due to Comte and infinitesimal linear author. In this setting, we do not integrate on space euclidean motions SO(n)⋉Rn, but manifold SO(n)×Sn−1.

This paper describes an efficient approach to (self) collision detection and distance computations for complex articulated mechanisms such as molecular chains. The proposed algorithm called BioCD is particularly designed for samplingbased motion planning on molecular models described by long kinematic chains possibly including cycles. The algorithm considers that the kinematic chain is structur...

An e cient parallel algorithm for forward dynam ics computation of human gures is to be proposed The algorithm is capable of handling any kinematic chains including structure varying ones The asymp totic complexity of the algorithm is O N in serial computation and O logN in parallel computation on O N processors for most practical kinematic chains The idea is to assemble a kinematic chain by ad...