Project details

Welcome to our homepage for the FWF project P 23831-N13, Algebraic Methods in Collision Detection and Path Planning

Funding agency Austrian Science Foundation (FWF)
Project leader H.-P. Schröcker
Duration 10/2011–09/2014
Amount €191.037,00

Read the project abstract for more information about our aims and scope. A more informal presentation is this FWF-press release.

Publications

  1. L. Nurahmi, J. Schadlbauer, St. Caro, M. L. Husty, and Ph. Wenger. Kinematic Analysis of the 3-RPS Cube Parallel Manipulator. Accepted for publication in ASME J. Mechanisms Robotics.
  2. U. Kuenzer, M. L. Husty. Joint Trajectory Optimization Using all Solutions of Inverse Kinematics of General 6-R Robots. In: M. Ceccarelli et al., Multibody Mechatronic Systems, 423–432, 2015.
  3. Z. Li, J. Schicho, H.-P. Schröcker. Spatial straight line linkages by factorization of motion polynomials. Submitted for publication, 2014.
    [preprint] [abstract]
  4. G. Hegedüs, J. Schicho, H.-P. Schröcker. Four-pose synthesis of angle-symmetric 6R linkages. Accepted for publication in ASME J. Mechanisms Robotics, 2014.
    [preprint] [abstract]
  5. U. Kuenzer and M. L. Husty. Joint Trajectory Generation Using All Solutions of Inverse Kinematics of General 6-R Robots. In: Proceedings of the Austrian Robotics Workshop 2014. Ed. by Hubert Gattringer and Klemens Springer. 2014, pp. 12–17.
  6. H.-P. Schröcker, M. J. Weber. Guaranteed collision detection with toleranced motions. Comput. Aided Geom. Design, 31(7-8):602–612, 2014.
    [preprint] [abstract] [DOI]
  7. J. Schadlbauer, L. Nurahmi, M. L. Husty, S. Caro, and Ph. Wenger. Operation Modes of Lower-Mobility Parallel Manipulators. In Second Conference on Interdisciplinary Applications in Kinematics, 3–10, Lima, Pero, September 2013.
    [abstract]
  8. H.-P. Schröcker. Elegante Bewegungsschule. Konstruktion für Elektronik und Maschinenbau 12 (2011), 20–21.

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Talks

  1. M. L. Husty, J. Schadlbauer, St. Caro, Ph. Wenger. The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes, 6th International Workshop on Computational Kinematics, Barcelona, May 2013.
  2. H.-P. Schröcker. Four-pose synthesis of 5R- and 6R-Linkages with rational coupler motion. Conference on Geometry: Theory and Applications. Ljubljana, 6/2013.
    [slides]
  3. M. J. Weber. Fat Polygons, Ball Coverings, and Collision Detection with Toleranced Motions. Conference on Geometry: Theory and Applications. Ljubljana, 6/2013.
  4. H.-P. Schröcker. Spatial linkages with a straight line trajectory. 18th ÖMG Congress and Annual DMV Meeting. Innsbruck, 9/2013.
    [slides]
  5. H.-P. Schröcker. A non-unique factorization theorem and its engineering applications. Scientific Symposium Future Trends in Civil Engineering, Zagreb, 2/2014.
  6. U. Kuenzer and M. L. Husty. Joint Trajectory Generation Using All Solutions of Inverse Kinematics of General 6-R Robots. Austrian Robotics Workshop, 5/2014.
  7. M. L. Husty, U. Kuenzer. Joint Trajectory Optimization Using All Solutions of Inverse Kinematics of General 6-R Robots, MUSME 2014, Multibody Systems and Mechatronics.

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Publications

  1. H.-P. Schröcker, J. Wallner. Curvatures and Tolerances in the Euclidean motion group, Results Math., 47:132–146, 2005. no. 9, 756–762, 2008.
    [abstract] [BibTeX] [ZBL] [MR] [PDF]
  2. H.-P. Schröcker, B. Jüttler, and M. Aigner. Evolving four-bars for optimal synthesis. In Marco Ceccarelli, editor, Proceedings of EUCOMES 08, pages 109–116. Springer, 2009.
    [abstract] [BibTeX] [ZBL] [DOI]
  3. H.-P. Schröcker. Elegante Bewegungsschule. Konstruktion für Elektronik und Maschinenbau, 12/2011, 20–21.

Talks

  1. H.-P. Schröcker. Curvatures and tolerances in the Euclidean motion group. Mathematical Methods for Curves and Surfaces, Tromsø, 6/2004.
    [slides]
  2. H.-P. Schröcker. Evolving four-bars for optimal synthesis. 2nd European Conference on Mechanism Science, Cassino, 9/2008.
    [slides]

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