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Publications – Manfred Husty

Journal Articles • Book • Chapters or pages in books (reviewed) • Conference Proceedings (reviewed) • Conference Proceedings (not reviewed) • Editorial Work • Didactic Articles • Theses • In Review • Other Publications (Project Reports, Lecture Notes etc.)

Journal Articles

[1] M. Weyrer, M. Brandstötter, and M. L. Husty. Singularity avoidance control of a non-holonomic mobile manipulator for intuitive hand guidanc. Robotics, 1(14):122-134, 2019.
[2] Th. Stigger, J. Siegele, D. Scharler, M. Pfurner, and M. L. Husty. Analysis of a 3-RUU parallel manipulator using algebraic constraints. Mechanism and Machine Theory, 136:256-268, 2019.
[3] M.L. Husty, I. Birlescu, P. Tucan, C. Vaida, and D. Pisla. An algebraic parameterization approach for parallel robots analysis. Mechanism and Machine Theory, 2019. accepted for publication.
[4] A. Nayak, Th. Stigger, M. L. Husty, Ph. Wenger, and St. Caro. Operation mode analysis of 3-RPS parallel manipulators based on their design parameters. Computer Aided Geometric Design, 63:122-134, 2018.
[5] M. Pfurner, Th Stigger, and M. L. Husty. Algebraic analysis of overconstrained single loop four link mechanisms with revolute and prismatic joints. Mechanism and Machine Theory, 114:11 - 19, 2017. [ DOI | www ]
[6] L. Nurahmi, St. Caro, Ph. Wenger, J. Schadlbauer, and M. L. Husty. Reconfiguration analysis of a 4-RUU parallel manipulator. Mechanism and Machine Theory, 96:269 - 289, 2016. [ DOI ]
[7] U. Kuenzer and M. Husty. Generation and optimal choice of joint trajectories using all solutions of inverse kinematics of general 6-R robots. Mechanics Based Design Of Structures And Machines, 44(1-2):146-159, 2016.
[8] L. Nurahmi, J. Schadlbauer, St. Caro, M. L. Husty, and Ph. Wenger. Kinematic analysis of the 3-RPS cube parallel manipulator. Journal Of Mechanisms And Robotics-Transactions Of The Asme, 7(1):011008-011008-11, 2015.
[9] J. Schadlbauer, D.R. Walter, and M.L. Husty. The 3-rps parallel manipulator from an algebraic viewpoint. Mechanism and Machine Theory, 75:161 - 176, 2014. [ DOI | www ]
[10] L. Nurahmi, J. Schadlbauer, M. L. Husty, Ph. Wenger, and St. Caro. Advances in Robot Kinematics, chapter Motion Capability of the 3-RPS Cube Parallel Manipulator, pages 527-535. Springer Dordrecht - Heidelberg - London - New York - Berlin, 2014. ISBN 978-3-319-06697-4.
[11] M. Urizar and M. L. Husty. Assembly mode change of spherical 3-RPR parallel manipulator. Mechanics Based Design of Structures and Machines, 40:487-505, 2012. [ DOI ]
[12] M. L. Husty. On some surfaces in kinematics. Journal for Geometry and Graphics, 16(1):47-58, 2012.
[13] M.T. Masouleh, C. Gosselin, M.L. Husty, and D. R Walter. Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures. Mechanism and Machine Theory, 46(7):945 - 959, 2011. [ DOI | www ]
[14] D. R. Walter and M. L. Husty. On implicitization of kinematic constraint equations. Machine Design & Research, 26:218-226, 2010. [ PDF ]
[15] J.M. Selig and M. L. Husty. Half-turns and line symmetric motions. Mechanism and Machine Theory, 2010. [ DOI ]
[16] M. L. Husty and C. Gosselin. On the singularity surface of planar 3-RPR parallel mechanisms. Mech. Based Design of Structures and Machines, 36:411-425, 2008.
[17] E. Ottaviano, M. Ceccarelli, and M. Husty. Workspace topologies of industrial 3R manipulators. International Journal of Advanced Robotic Systems, 4(3):355-364, September 2007. [ PDF ]
[18] M. L. Husty, M. Pfurner, and H.-P. Schröcker. A new and efficient algorithm for the inverse kinematics of a general serial 6R manipulator. Mechanism and Machine Theory, 42(1):66-81, 2007.
[19] H.-P. Schröcker, M. L. Husty, and J. M. M. McCarthy. Kinematic mapping based assembly mode evaluation of planar four-bar mechanisms. Journal of Mechanical Design, 129(9):924-929, 2007. [ DOI ]
[20] M. L. Husty, M. Pfurner, H.-P. Schröcker, and Brunnthaler K. Algebraic methods in mechanism analysis and synthesis. Robotica, 25(6):661-675, 2007. [ DOI ]
[21] M. L. Husty. Algebraic methods in mechanisms analysis and synthesis. Machine Design & Research, pages 37-48, 2006. [ PDF ]
[22] E. Ottaviano, M. L. Husty, and M. Ceccarelli. Identification of the workspace boundary of a general 3-R manipulator. Journal of Mechanical Design, 128(1):236-242, 2006. [ DOI | PDF ]
[23] F. Pernkopf and M. L. Husty. Workspace analysis of Stewart-Gough-type parallel manipulators. Journal of Mechanical Engineering Science, 220(7):1019-1032, 2006.
[24] K. Brunnthaler, M. Pfurner, and M. L. Husty. Synthesis of planar four-bar mechanisms. CSME Transactions, 30(2):297-313, 2006.
[25] P. Zsombor-Murray, M. J. D. Hayes, and M. L. Husty. Extreme distance to a spatial circle. CSME Transactions, 28(2A):221-235, 2004. Special issue: Selected Papers of the 2nd CCToMM Symposium on Mechanisms, Machines, and Mechatronics.
[26] M. J. D. Hayes and M. L. Husty. On the kinematic constraint surfaces of general three-legged planar robots. Mechanism and Machine Theory, 38(5):379-394, 2003.
[27] M. J. D. Hayes, M. L. Husty, and P. J. Zombor-Murray. Singular configurations of wrist-partitioned 6R serial robots: a geometric perspective for users. CSME Transactions, 26, No. 1:41-55, 2002.
[28] M. L. Husty and J. K. Eberharter. Kinematic analysis of the hexapod telescope. The Electronic Journal of Computational Kinematics, 1(1):10 pages, 2002. http://www-sop.inria.fr/ coprin/EJCK/Vol1-1/index.html.
[29] M. J. D. Hayes, M. L. Husty, and P. J. Zombor-Murray. Solving the forward kinematics of a planar 3-legged platform with holonomic higher pairs. ASME J. Design, 121, Nr. 2:212-219, 1999.
[30] A. Karger and M. L. Husty. Classification of all self-motions of the original Stewart-Gough platform. Computer Aided Design, 30(3):205-215, 1998.
[31] M. L. Husty. An algorithm for solving the direct kinematics of general Stewart-Gough platforms. Mechanism and Machine Theory, 31, No. 4:365-380, 1996. [ DOI ]
[32] M. L. Husty and A. Karger. Flächenläufige Bewegungsvorgänge in der Geometrie der winkeltreuen Ähnlichkeiten der isotropen Ebene I. Sb. d. österr. Ak. d. Wiss., 202, Heft 1-10:1-22, 1993.
[33] M. L. Husty and P. T. Nagy. Parallelismus auf Lie Gruppen. Acta Sci. Math. (Szeged), 57:531-542, 1993.
[34] M. L. Husty. Über Polkurven von einparametrigen Bewegungsvorgängen in der isotropen Ebene. RAD HAZU, 456:173-182, 1991.
[35] M. L. Husty and H. Sachs. Eine geometrische Deutung der eingliedrigen Untergruppen der allgemeinen isotropen Ähnlichkeitsgruppe. Geom. dedicata, 34:211-228, 1990.
[36] M. L. Husty and P. T. Nagy. Über die Blaschkesche kovariante Ableitung und die Kinematische Abbildung. Note di Mathematica, Lecce, IX:181-188, 1990.
[37] M. L. Husty and P. T. Nagy. Dreidimensionale Liegruppen und ebene Kinematik. Mathematica Pannonica, 1/1:57-71, 1990.
[38] M. L. Husty and H. Sachs. Abstandsprobleme zu windschiefen Geraden I. Sb. d österr. Ak. d. Wiss., 203:31-55, 1990.
[39] M. L. Husty. Zweiparametrige äquiforme Bewegungen der isotropen Ebene. Sb. d. österr. Ak. d. Wiss. math.-nw. Kl., 197:291-303, 1989.
[40] M. L. Husty and O. Röschel. Eine affin-kinematische Erzeugung gewisser Flächen vierter Ordnung mit zerfallendem Doppelkegelschnitt I. Glas. Math., 22 (42):143-156, 1987.
[41] M. L. Husty and O. Röschel. Eine affin-kinematische Erzeugung gewisser Flächen vierter Ordnung mit zerfallendem Doppelkegelschnitt II. Glas. Math., 22 (42):429-447, 1987.
[42] M. L. Husty. Über eine symmetrische Schrotung mit einer Cayley-Fläche als Grundfläche. Stud. Sci. Math. Hungarica, 22:463-469, 1987.
[43] M. L. Husty. Zur Kinematik der ebenen äquiformen isotropen Geometrie. RAD-JAZU, 444 (8):111-120, 1987.
[44] M. L. Husty. Symmetrische Schrotungen im einfach isotropen Raum. Sb. d. österr. Ak. d. Wiss. math.-nw. Kl., 195:291-306, 1986.
[45] M. L. Husty. Schraubung des Flaggenraumes J3(2). Berichte der mathematisch-statistischen Sektion im Forschungszentrum Graz, 217:1-8, 1983.
[46] M. L. Husty. Eine Bemerkung zu den Dupinschen Zykliden des einfach isotropen bzw. pseudoisotropen Raumes. Anz. d. österr. Ak. d. Wiss. math.-nw. Kl., 122:171-174, 1983.

Book

[1] M. L. Husty and M. Hofbaur. New Trends in Medical and Service Robotics. Design, Analysis and Control. Mechanisms and Machine Science, 48. Springer International Publishing, 2018. ISBN 978-3-319-59971-7.
[2] H.-P. Schröcker and M. L. Husty, editors. Proceedings of the 16th International Conference on Geometry and Graphics (ICGG 2014). Innsbruck: innsbruck university press (IUP, 2014.
[3] J. Lenarčič and M. L. Husty, editors. Latest Advances in Robot Kinematics. Springer, 2012. [ DOI ]
[4] D. Pisla, M. L. Husty, B. Corves, and M. Ceccarelli, editors. New Trends in Mechanism Science. Springer, 2010. [ DOI ]
[5] J. Lenarčič and M. L. Husty, editors. Advances in Robot Kinematics. Kluwer Acad. Pub., 1998. ISBN 0-7923-5169-X.
[6] M. L. Husty, A. Karger, H. Sachs, and W. Steinhilper. Kinematik und Robotik. Springer Verlag, 1997. ISBN 978-3-540-63181-X.

Chapters or pages in books (reviewed)

[1] M. L. Husty and D. Walter. Singular Configurations of Mechanisms and Manipulators, chapter Mechanism Constraints and Singularities - The Algebraic Formulation, pages 101-180. CISM International Centre for Mechanical Sciences Courses and Lectures, 589. Springer International Publishing, 2019. ISBN 978-3-030-05218-8.
[2] M. L. Husty and P. J. Zsombor-Murray. New Trends in Educational Activity in the Field of Mechanism and Machine Theory. 2014-2017, chapter On the Use of Groebner Bases in a Robotics Course, pages 20-28. Mechanism and Machine Sience, 64. Springer International Publishing, 2019. ISBN 978-3-030-00107-0.
[3] M. L. Husty and M. Pfurner. Proceedings of the 18th International Conference on Geometry and Graphics (ICGG 2018), chapter An Algebraic Version of the Input-Output Equation of Planar Four-Bar Mechanisms, pages 746-757. Advances in Intelligent Systems and Computing, 809. Springer International Publishing, 2019. ISBN 978-3-319-95588-9.
[4] Th. Stigger, M. Pfurner, and M. L. Husty. EuCoMeS 2018. Proceedings of the 7th European Conference on Mechanism Science, chapter Workspace and Singularity Analysis of a 3-RUU Parallel Manipulator, pages 325-332. Mechanism and Machine Sience, 64. Springer International Publishing, 2018. ISBN 978-3-030-00107-.
[5] Th. Stigger, A. Nayak, St. Caro, Ph. Wenger, M. Pfurner, and M. L. Husty. Advances in Robot Kinematics 2018, chapter Algebraic Analysis of a 3-RUU Parallel Manipulator, pages 141-149. Springer Proceedings in Advanced Robotics, 8. Springer International Publishing, 2018. ISBN 978-3-319-56801-0.
[6] M. Pfurner, H.-P. Schröcker, and M. L. Husty. Advances in Robot Kinematics 2016, chapter Path Planning in Kinematic Image Space Without the Study Condition, pages 285-292. Springer Proceedings in Advanced Robotics, 4. Springer International Publishing, 2018. ISBN 978-3-319-56801-0.
[7] M. L. Husty, J. Schadlbauer, and P. J. Zsombor-Murray. Cable-Driven Parallel Robots, chapter A New Approach to the Direct Geometrico-Static Problem of Cable Suspended Robots Using Kinematic Mapping, pages 97-105. Mechanisms and Machine Science, 53. Springer International Publishing, 2018. ISBN 978-3-319-61430-4.
[8] M. J. Hayes, M. L. Husty, and M. Pfurner. Advances in Robot Kinematics 2018, chapter Input-Output Equation for Planar Four-Bar Linkages, pages 12-19. Springer Proceedings in Advanced Robotics, 8. Springer International Publishing, 2018. ISBN 978-3-319-93187-6.
[9] M. Pfurner, Th. Stigger, and M. L. Husty. New Trends in Mechanism and Machine Science. Theory and Applications, chapter Overconstrained Single Loop Four Link Mechanisms with Revolute and Prismatic Joints, pages 81-89. Mechanism and Machine Science, 43. Springer International Publishing, 2017. ISBN 978-3-319-44155-9.
[10] C. Vaida, D. Pisla, J. Schadlbauer, M. L. Husty, and N. Plitea. New Trends in Medical and Service Robots. Human Centered Analysis, Control and Design, chapter Kinematic Analysis of an Innovative Medical Parallel Robot Using Study Parameters, pages 85-99. Mechanisms and Machine Science, 39. Springer International Publishing, 2016. ISBN 978-3-319-30673-5.
[11] J. Schadlbauer, L. Nurahmi, M. L. Husty, Ph. Wenger, and St. Caro. Interdisciplinary Applications of Kinematics, chapter Operation Modes in Lower-Mobility Parallel Manipulator, pages 1-9. Springer International Publishing, 2015. ISBN 978-3-319-10722-6.
[12] U. Kuenzer and M. L. Husty. Multibody Mechatronic Systems, chapter Joint Trajectory Optimization Using All Solutions of Inverse Kinematics of General 6-R Robots, pages 423 - 432. Mechanism and Machine Science 25. Springer Dordrecht - Heidelberg - London - New York - Berlin, 2015. ISBN 978-3-319-09857-9.
[13] M. L. Husty and P. J. Zsombor-Murray. Interdisciplinary Applications of Kinematics, chapter Geometric Contributions to the Analysis of 2-2 Wire Driven Cranes, pages 11 - 19. Springer International Publishing, Cham, 2015. ISBN 978-3-319-10722-6.
[14] Th. Stigger and M. L. Husty. Kinematische analyse eines ebenen 2rpr ppr -manipulators. In T. Lüth, F. Irlinger, and K. Abdul-Sater, editors, 11. Kolloquium Getriebetechnik. 28.-30. September 2015, pages 13-26. epubli Berlin, 2015. ISBN 978-3-737-56497-7.
[15] V. Abrão S. Marques, R. S. Gonçalves, J. Carvalho, M. Pfurner, and M. L. Husty. Spatial analysis of humanoid robot's gait using dual-quaternions. In T. Lüth, F. Irlinger, and K. Abdul-Sater, editors, 11. Kolloquium Getriebetechnik. 28.-30. September 2015, pages 73-92. epubli Berlin, 2015. ISBN 978-3-737-56497-7.
[16] M. L. Husty and H.-P. Schröcker. 21st Century Kinematics. The 2012 NSF Workshop, chapter Kinematics and Algebraic Geometry, pages 85 - 123. Springer Dordrecht - Heidelberg - London - New York - Berlin, 2013.
[17] M. L. Husty, J. Schadlbauer, St. Caro, and Ph. Wenger. New Trends in Mechanism and Machine Science, chapter Self-Motions of 3-RPS Manipulators, pages 121-130. Mechanisms and Machine Science 7. Springer Dordrecht - Heidelberg - London - New York - Berlin, 2013.
[18] M. L. Husty, J. Schadlbauer, St. Caro, and Ph. Wenger. New Trends in Mechanism and Machine Science, chapter The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes. Springer, 2013.
[19] M. L. Husty and H.-P. Schröcker. 21st Century Kinematics, chapter Kinematics and Algebraic geometry. Springer, 2012. [ DOI ]
[20] M. L. Husty and H.-P. Schröcker. Interdisciplinary Applications of Kinematics, chapter A proposal for a new definition of the degree of freedom of a mechanism, pages 109-118. Springer, 2011. ISBN 978-94-007-2977-3. [ DOI | PDF ]
[21] J. Schadlbauer and M.-L Husty. A complete analysis of the 3-RPS manipulator. In S. Bandyopadhyay, G.S. Kumar, and P. Ramu, editors, Machines and Mechanisms, pages 410-419. Narosa Publishing House, 2011.
[22] M. Husty and H.-P. Schröcker. Nonlinear Computational Geometry, volume 151 of The IMA Volumes in Mathematics and its Applications, chapter Algebraic geometry and kinematics, pages 85-107. Springer, 2010. [ DOI ]
[23] M.T. Masouleh, M. L. Husty, and C. Gosselin. Forward Kinematic Problem of 5-PRUR Parallel Mechanisms Using Study Parameters. In J. Lenarčič and M. M. Stanisic, editors, Advances in Robot Kinematics, pages 211-221. Springer, 2010.
[24] M. Pfurner and M. L. Husty. Implementation of a new and efficient algorithm for the inverse kinematics of serial 6R chains. In D. Pisla, M. L. Husty, B. Corves, and M. Ceccarelli, editors, New Trends in Mechanism Science, pages 91-98. Springer, 2010.
[25] D. Pisla and M. L. Husty. Development of computational kinematics within the iftomm community. In M. Ceccarelli, editor, Role of MMS and IFToMM in Technology Development, pages 121-132. Springer, 2010.
[26] M. L. Husty. Non-singular assembly mode change in 3-RPR-parallel manipulators. In Andrés Kecskeméthy and Andreas Müller, editors, Computational Kinematics, pages 51-60. Springer, 2009. [ PDF ]
[27] D.R. Walter, M.L. Husty, and M. Pfurner. Contemporary Mathematics, volume 496, chapter A Complete Kinematic Analysis of the SNU 3-UPU Parallel Manipulator, pages 331-346. American Mathematical Society, 2009. ISBN 978-0-8218-4746-6. [ PDF ]
[28] M. L. Husty, E. Ottaviano, and M. Ceccarelli. A geometrical characterization of workspace singularities in 3R manipulators. In J. Lenarčič and Ph. Wenger, editors, Advances in Robot Kinematics, page 8 pages. Springer, 2008. ISBN 978-1-4020-8599-4. [ PDF ]
[29] M. L. Husty. Walter Wunderlich (1910 - 1998). In M. Ceccarelli, editor, Distinguished Figures in Mechanism and Machine Science, pages 371-392. Springer, 2007. [ DOI | PDF ]
[30] M. L. Husty. The kinematic work of W. Wunderlich. In Proceedings of HMM04, pages 169-178. Kluwer Acad. Publ., 2004. ISBN 1-4020-2203-4. [ DOI ]
[31] E. Ottaviano, M. L. Husty, and M. Ceccarelli. A Cartesian representation for boundary workspace of 3R manipulators. In J. Lenarčič and C. Galletti, editors, On Advances in Robot Kinematics, pages 247-255. Kluwer Acad. Publ., 2004.
[32] F. Pernkopf and M. L. Husty. Workspace classification of Stewart-Gough platforms with planar base and platform. In J. Lenarčič and C. Galletti, editors, On Advances in Robot Kinematics, pages 229-237. Kluwer Acad. Publ., 2004.
[33] M. L. Husty, S. Mielczarek, and M. Hiller. Redundant spatial Stewart-Gough platform with a maximal forward kinematics solution set. In J. Lenarcic and F. Thomas, editors, Advances in Robot Kinematics, pages 355-364. Kluwer Acad. Pub., 2002. ISBN 1-4020-0696-9.
[34] A. Karger and M. L. Husty. Schönflies-Borel-Bricard motions. In SBORNIK, 22. Konference Geometrie a Pocitacova Grafica, pages 40-45, 2002. ISBN 80-248-0185-X.
[35] M. L. Husty. E. Borel's and R. Bricard's papers on displacements with spherical paths and their relevance to self-motions of parallel manipulators. In M. Ceccarelli, editor, International Symposium on History of Machines and Mechanisms-Proceedings HMM 2000, pages 163-172. Kluwer Acad. Pub., 2000. ISBN 0-7923-6372-8. [ PDF ]
[36] M. L. Husty and M. J. D. Hayes. Workspace characterization of planar three-legged platforms with holonomic higher pairs. In J. Lenarcic and M. M. Stanisic, editors, Advances in Robot Kinematics, pages 267-276. Kluwer Acad. Pub., 2000. ISBN 0-7923-6426-0.
[37] M. L. Husty and A. Karger. Architecture singular parallel manipulators and their self-motions. In J. Lenarcic and M. M. Stanisic, editors, Advances in Robot Kinematics, pages 355-364. Kluwer Acad. Pub., 2000. ISBN 0-7923-6426-0.
[38] M. L. Husty, M. J. D. Hayes, and H. Loibnegger. The general singularity surface of a planar three-legged platform. In A. Kecskemethy, M. Schneider, and C. Woernle, editors, Advances in Multibody Systems and Mechatronics, pages 203-214. Duisburg, 1999. ISBN 3-9501108-0-1.
[39] M. L. Husty and P. Zsombor-Murray, P. J.and Gervasi. Geometry in mechanics. In J. Lenarcic and M. L. Husty, editors, Advances in Robot Kinematics, pages 267-276. Kluwer Acad. Pub., 1998. ISBN 0-7923-5169-X.
[40] A. Karger and M. L. Husty. Recent results on self-motions of parallel manipulators. In M. Ceccarelli, editor, Proceedings of RAAD '97, pages 383-388, 1997. ISBN 88-87054-00-2.
[41] A. Karger and M. L. Husty. On self-motions of a class of parallel manipulators. In J. Lenarcic and V. Parenti-Castelli, editors, Advances in Robot Kinematics, pages 339-348. Kluwer Acad. Pub., 1996. ISBN 0-7923-4124-4.
[42] M. L. Husty and J. Angeles. Kinematic isotropy in 3R positioning manipulators. In J. Lenarcic and B. Ravani, editors, Advances in Robot Kinematics, pages 181-191. Kluwer Acad. Pub., 1994. ISBN 0-7923-2983-X.
[43] M. L. Husty and P. J. Zsombor-Murray. A special type of singular Stewart Gough platform. In J. Lenarcic and B. Ravani, editors, Advances in Robot Kinematics, pages 439-449. Kluwer Acad. Pub., 1994. ISBN 0-7923-2983-X.
[44] M. L. Husty. Visuelle Wahrnehmung und der Abbildungsbegriff in der Geometrie. In W. Wolf, editor, Wahr ist viel mehr, pages 1-12. 1990. ISBN 3-901096-03-X.
[45] M. L. Husty and O. Röschel. On a particular class of cyclides in isotropic respectively pseudoisotropic space. In Topics in Differential Geometry, (ed. by J. Senthe and L. Tamássy), pages 531-557. Coll. Math. Soc. J. Bolyai, vol. 46, Budapest, Hungary, 1988.
[46] J. Schadlbauer, C. Vaida, P. Tucan, D. Pisla, M. L. Husty, and N. Plitea. Advances in Robot Kinematics 2016, chapter A complete analysis of singularities of a parallel medical robot, pages 81-89. Springer Proceedings in Advanced Robotics, 4. Springer International Publishing. ISBN 978-3-319-56801-0.

Conference Proceedings (reviewed)

[1] V. Abrão S. Marques, R. S. Gonçalves, J. Carvalho, M. Pfurner, and M. L. Husty. Humanoid robot's inverse kinematics using algebraic geometry. In Proceedings of the 12th Latin American Robotics Symposium and Third Bazilian Symposium on Robotics (LARS-SBR), pages 169-174. Conference Publishing Services (CPS) - IEEE Computer Society, 2015. ISBN 978-1-4673-7129-2.
[2] L. Nurahmi, J. Schadlbauer, M. L. Husty, Ph. Wenger, and St. Caro. Kinematic analysis of the 3-RPS cube parallel manipulator. In American Society of Mechanical Engineers (ASME), editor, Proceedings of the ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. New York, number V05BT08A064, 2014. ISBN 978-0-7918-4637-7.
[3] U. Kuenzer and M. L. Husty. Joint trajectory generation using all solutions of inverse kinematics of general 6-r robots. In Klemens Gattringer, Hubert; Springer, editor, Proceedings of the Austrian Robotics Workshop 2014 (ARW 2014, pages 12-17. Johannes Kepler Universität Linz (JKU), 2014.
[4] M. L. Husty. On distances and squares of distances. In P. J. Zsombor-Murray, editor, Proceedings of 15th Int. Conf. on Geometry and Graphics, pages 302-309, Montreal, 1-5 Aug., 2012.
[5] M. Urizar and M. L. Husty. Assembly mode change of spherical 3-RPR parallel manipulator - musme-2011. In Proceedings of MUSME 2011, pages 451-468. Editorial Universitat Politechnica Valencia, 2011.
[6] M.T. Masouleh, C. Gosselin, M.L. Husty, and D. R Walter. Forward kinematic problem of 4-dof parallel mechanisms (3T1R) with identical limb structures acuated by revolute actuators using the linear implictization algorithm. In Proceedings of ASME DETC 2011, 2011.
[7] D. R. Walter and M. L. Husty. Kinematic analysis of the TSAI-3UPU parallel manipulator using algebraic methods. In Proceedings of the 13th World Congress in mechanism and machine science, 2011. http://www.somim.org.mx/conference_proceedings/pdfs/A7/ A7_388.pdf.
[8] M. T. Masouleh, D. R. Walter, M. L. Husty, and C. Gosselin. Forward kinematic problem of the symmetric 5-dof parallel mechanisms (3T2R) using the linear implictization algorithm. In Proceedings of the 13th World Congress in mechanism and machine science, 2011. http://www.somim.org.mx/conference_proceedings/pdfs/A7/A7_361.pdf.
[9] M.T. Masouleh, M. L. Husty, and C. Gosselin. A general methodology for the forward kinematic problem of symmetrical parallel mechanisms and application for 5-PRUR parallel mechanisms (3T2R). In Proceedings of ASME DETC 2010, number 86261, 2010.
[10] M. L. Husty. Using Geogebra in elementary geometry. In Z.Sir, editor, Proceedings of the 30th Czech conference on Geometry and Graphics, page 3 pages, 2010. [ PDF ]
[11] M. L. Husty. On some surfaces in kinematics. In Aya Saito Naomi Ando, Takashi Kanai and Yashushi Yamaguchi, editors, Proceedings of the 14th International Conference on Geometry and Graphics, number paper Nr. 149, 2010.
[12] M. Pfurner and M.L. Husty. Implementierung eines neuartigen, effizienten Algorithmus zur Berechnung der inversen Kinematik von seriellen Robotern mit Drehgelenken. In Internationales Forum Mechatronik, Linz, Austria, 10.-11. November 2009 2009. [ PDF ]
[13] D. R. Walter, M. L. Husty, and M. Pfurner. The SNU 3-UPU parallel robot from a theoretical viewpoint. In N. Andreff, O. Company, M. Gouttefarde, S. Krut, and F. Pierrot, editors, Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, page 8 pages, Montpellier, France, 2008. [ PDF ]
[14] H.-P. Schröcker and M. L. Husty. Kinematic mapping based assembly mode evaluation of spherical four-bar mechanisms. In J.-P. Merlet and M. Dahan, editors, Proceedings of IFToMM 2007, page 8 pages, Besançon, France, 2007. [ PDF ]
[15] M. Pfurner and M. L. Husty. A method to determine the motion of overconstrained 6R-mechanisms. In J.-P. Merlet and M. Dahan, editors, Proceedings of IFFToMM 2007, page 6 pages, Besançon, France, 2007. [ PDF ]
[16] D. Walter and M. L. Husty. On a nine-bar mechanism, its possible configurations and conditions for flexibility. In J.-P. Merlet and M. Dahan, editors, Proceedings of IFFToMM 2007, page 6 pages, Besançon, France, 2007. [ PDF ]
[17] D. Walter and M. L. Husty. A spatial nine-bar linkage, possible configurations and conditions for paradoxical mobility. In Proceedings of NaCoMM 2007, pages 195-208, Bangalore, India, 2007. [ PDF ]
[18] E. Ottaviano, M. L. Husty, and M. Ceccarelli. A study on workspace topologies of 3R industrial-type manipulators. In Proceedings of AQTR, volume 2, pages 237-242, Cluj, Romania, 2006. [ DOI ]
[19] M. L. Husty. Wilhelm Blaschke, geometry and kinematics. In Proceedings of History Workshop, page 6 pages, Moscow, March 2005.
[20] F. Pernkopf and M. L. Husty. Reachable workspace and manufacturing errors. In Proceedings of MUSME, 2005. CD-ROM Proceedings.
[21] M. L. Husty, K. Brunnthaler, and M. Pfurner. Synthesis of a planar four-bar mechanisms. In Proceedings of MUSME, Uberlandia, Brazil, 2005. CD-ROM Proceedings.
[22] M. L. Husty, M. Pfurner, and H.-P. Schröcker. A new and efficient algorithm for the inverse kinematics of a general serial 6R. In Proceedings of ASME 2005 29th Mechanism and Robotics Conference, Long Beach, 2005.
[23] H.-P. Schröcker, M. L. Husty, and J. M. McCarthy. Kinematic mapping based evaluation of assembly modes for planar four-bar synthesis. In Proceedings of ASME 2005 29th Mechanism and Robotics Conference, Long Beach, 2005. [ PDF ]
[24] K. Brunnthaler, H.-P. Schröcker, and M. L. Husty. A new method for the synthesis of Bennett mechanisms. In Proceedings of CK 2005, International Workshop on Computational Kinematics, Cassino, 2005. [ PDF ]
[25] F. Pernkopf and M. L. Husty. Model of a U-joint with skew axes. In Proceedings of IFToMM World Congress, pages 1093-1098, China, 2004.
[26] P. Zsombor-Murray, M. J. D. Hayes, and M. L. Husty. Elementary kinematics from an advanced standpoint. In Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003), Calgary, AB., Canada, 2003. University of Calgary.
[27] M. L. Husty and F. Pernkopf. Workspace analysis of spatial parallel robots. In G. Weiß, editor, Proceedings of Dresden Symposium Geometry, pages 137-141, 2003.
[28] F. Pernkopf and M. L. Husty. Singularity analysis of spatial Stewart-Gough platforms with planar base and platform. In Proceedings of DECT'02, Montreal, page 8 pages, Montreal, Canada, October 2002. CD-ROM Proceedings.
[29] S. Mielczarek, M. L. Husty, and M. Hiller. Designing a redundant Stewart-Gough platform with a maximal forward kinematics solution set. In Proceedings of MUSME, The International Symposion of Multibody Simulation and Mechatronics, page 12 pages, Mexico City, Mexico, September 2002. CD-ROM Proceedings.
[30] F. Pernkopf and M. L. Husty. Workspace analysis of Stewart Gough manipulators using orientation plots. In Proceedings of MUSME, The International Symposion of Multibody Simulation and Mechatronics, page 16 pages, Mexico City, Mexico, September 2002. CD-ROM Proceedings.
[31] M. L. Husty and A. Karger. Self motions of Stewart-Gough platforms, an overview. In Proceedings of the workshop on fundamental issues and future research directions for parallel mechanisms and manipulators, pages 131-141, Quebec City, Canada, 2002. [ PDF ]
[32] M. L. Husty and A. Karger. Architecture singular planar Stewart-Gough platforms. In Proceedings of the 10th workshop RAAD, page 6, Vienna, Austria, 2001. CD-Rom Proceedings.
[33] M. L. Husty and J. K. Eberharter. Kinematic analysis of the hexapod telescope. In F. Park and C. Iurascu, editors, Proceedings of the 2nd Workshop on Computational Kinematics, pages 269-278, Seoul, Korea, 2001.
[34] M. L. Husty, S. Mielczarek, and M. Hiller. Constructing an overconstrained planar 4RPR manipulator with maximal forward kinematics solution set. In Proceedings of the 10th workshop RAAD, page 6, Vienna, Austria, 2001. CD-ROM Proceedings.
[35] M. J. D. Hayes, M. L. Husty, and P. Zsombor-Murray. Towards workspace analysis of platforms with three arbitrary legs. In Proceedings of the 18th Canadian Congress of Applied Mechanics (CANCAM 2001), pages 355-356, St. John's, Nfld., Canada, 2001.
[36] M. L. Husty and A. Karger. Architecture singular parallel manipulators and their self-motions. In Proceedings VIIIth International Congress on the Theory of Machines and Mechanisms, pages 219-222, Liberec, Czech Republic, September 2000.
[37] M. L. Husty and A. Karger. Self-motions of Griffis-Duffy type platforms. In Proceedings of IEEE conference on Robotics and Automation (ICRA 2000), pages 7-12, San Francisco, USA, 2000. [ DOI ]
[38] M. J. D. Hayes, M. L. Husty, and P. Zsombor-Murray. Kinematic mapping of planar Stewart-Gough platforms. In Proceedings of CANCAM 1999, pages 319-320, Hamilton, Ontario, Canada, 1999.
[39] M. J. D. Hayes, M. L. Husty, and P. Zsombor-Murray. Solving the forward kinematics of a planar 3-legged platform with holonomic higher pairs. In J. Angeles and Zakhariev, editors, NATO-ASI Workshop on Computational Methods in Mechanism Design, pages 525-535, Varna, Bulgaria, 1997.
[40] A. Karger and M. L. Husty. Singularities and self-motions of Stewart-Gough platforms. In J. Angeles and Zakhariev, editors, NATO-ASI Workshop on Comuputational Methods in Mechanism Design, vol. 2, pages 270-289, 1997.
[41] A. Marek, M. L. Husty, and P. O'Leary. Kinematics and control algorithms of coupled tracked vehicles. In Proceedings of ISMCR '98 (International Symposion on Measurement and Control in Robotics), pages 279 - 284, Prague, Czech Republic, 1997.
[42] M. L. Husty. On the workspace of planar three-legged platforms. In Proceedings ISRAM - World Congress of Automation, pages 1790-1796, Montpellier, France, 1996.
[43] M. L. Husty and A. Karger. Self-motions of Stewart-Gough platforms,. In Proceedings VIIth International Congress on the Theory of Machines and Mechanisms, pages 245-250, Liberec, Czech Republic, 1996.
[44] M. L. Husty. Kinematic mapping of planar three-legged platforms. In Proc. 15th Canadian Congress of Applied Mechanics CANCAM, vol.2, pages 876-877, Victoria, Br. Columbia, Canada, 1995.
[45] F. Bulca and M. L. Husty. Kinematic mapping of spherical three-legged platforms. In Proc. 15th Canadian Congress of Applied Mechanics CANCAM, vol.2, pages 874-875, Victoria, Br. Columbia, Canada, 1995.
[46] P. Zsombor-Murray and M. L. Husty. Central line surface symmetries in 4-bar mechanisms. In Proc. 15th Canadian Congress of Applied Mechanics CANCAM, vol.1, pages 246-247, Victoria, Br. Columbia, Canada, 1995.
[47] P. Zsombor-Murray, M. L. Husty, and D. Hartmann. Singular Stewart-Gough platforms with spherocylindrical and spheroconical hip joint trajectories. In Proc. 9th World Congress on the Theory of Machines and Mechanisms, vol. 3, pages 1886-1890, Milano, Italy, 1995.
[48] F. Bulca, J. Angeles, P. J. Zsombor-Murray, and M. L. Husty. On the workspace of mechanisms. In Proc. 9th World Congress on the Theory of Machines and Mechanisms, vol. 1, pages 75-79, Milano, Italy, 1995.
[49] M. L. Husty and H. Sachs. Applications of geometry in robotics. In Proc. Robotics in Alpe Adria, Pörtschach, pages 87-90, Pörtschach, Austria, 1995.
[50] P. Zsombor-Murray, M. L. Husty, and D. Hartmann. Surface symmetries in overconstrained mechanisms. In Proc. Robotics in Alpe Adria, Pörtschach, pages 125-129, Pörtschach, Austria, 1995.
[51] M. L. Husty and P. J. Zsombor-Murray. Engineering graphics, computational geometry and geometric thinking. In Proceedings ASEE Design Graphics Conference, pages 437-443, Edmonton, Alberta, Canada, 1994.
[52] M. L. Husty. Equiform kinematics of an isotropic plane. In V.O. Thomas and W.P. Lewis, editors, Proceedings 5th ASEE International Conference EGDG, pages 381-385, Melbourne, Australia, 1992.

Conference Proceedings (not reviewed)

[1] M. L. Husty. Using Geogebra in elementary geometry. In Z.Sir, editor, Proceedings of the 30th Czech conference on Geometry and Graphics, page 3 pages, 2010. [ PDF ]
[2] M. L. Husty. On some surfaces in kinematics. In Aya Saito Naomi Ando, Takashi Kanai and Yashushi Yamaguchi, editors, Proceedings of the 14th International Conference on Geometry and Graphics, number paper Nr. 149, 2010.
[3] M. L. Husty and F. Pernkopf. Workspace analysis of spatial parallel robots. In G. Weiß, editor, Proceedings of Dresden Symposium Geometry, pages 137-141, 2003.

Editorial Work

[1] D. Pisla and M. L. Husty. Special issue “new trends in advanced robotic”. Revue Roumaine des Sciences Techniques-Serie de Mecanique Applique, 2013.
[2] M. L. Husty and H.-P. Schröcker, editors. Proceedings of EuCoMeS, the first European Conference on Mechanism Science. Innsbruck University Press, February 2006.

Didactic Articles

[1] M. L. Husty. Rhinoceros - Rhino3D. IBDG, 22(1):36-42, 2003.
[2] M. L. Husty. Robotergeometrie, Motivationen für ungeliebte Grundaufgaben der DG. IBDG, 15/2:45-50, 1996.
[3] M. L. Husty. Zur Geometrie und Mathematik der Platonischen Körper. In M. Hampala, editor, Museum der Wahrnehmung im Oktogon, pages 33-47. 1996.
[4] M. L. Husty. Eine Einführung in die fraktale Geometrie I. IBDG, 11/1:9-14, 1992.
[5] M. L. Husty. Eine Einführung in die fraktale Geometrie II. IBDG, 11/2:1-9, 1992.
[6] M. L. Husty. Geometrie zum Wahrnehmen - Das MUWA im Stadtpark in Graz. IBDG, 10/1:35-37, 1991.

Theses

[1] M. L. Husty. Kinematik winkeltreuer Ähnlichkeiten der isotropen Ebene. Habilitationsschrift, Inst. f. Math. u. Angew. Geom., Arbeitsbericht 9, 1988. 94 pages.
[2] M. L. Husty. Zur Schraubung des Flaggenraumes. PhD thesis, TU Graz, 1983. 90 S.
[3] M. L. Husty. Doppelverhältnischaren auf einer windschiefen Regelfläche. Master's thesis, TU-Graz, 1978. 62 pages.
[4] M. L. Husty. Aktionsforschung und Leistungssport. Master's thesis, K. F. University Graz, 1978. 63 pages.

In Review

Other Publications (Project Reports, Lecture Notes etc.)

[1] M. L. Husty. Laudatio aus Anlass des 60. Geburtstages von o. Univ.-Prof. Dr. H. Stachel, 2003.
[2] M. L. Husty. Laudatio aus Anlass des 75. Geburtstages von o. Univ.-Prof. Dr. J. P. Tschupik, 2003.
[3] M. J. D. Hayes and M. L. Husty. Classification of singular configurations of the KUKA KR-15/2 six-axis serial robot. Technical report, Institute for Automation, Leoben, Austria, 2000.
[4] M. L. Husty. Robotergeometrie. Seminarunterlagen für AHS-Lehrerfortbildung Steyr (50 pages), 1995.
[5] M. L. Husty. An algorithm for solving the direct kinematics of Stewart-Gough-type platforms. Technical Report 07, McGill Centre for Intelligent Machines, Montreal, Canada, 1994. 25 pages.
[6] M. L. Husty. Duale Zahlen, Duale Vektoren, Quaternionen, Schrauben und Speere. Project report, EU-COMETT II-Projekt Nr. 3164 Cb, Inst. f. Angew. Geometrie, Leoben, Austria, 1993. 94 pages.