28 citations · 53 across the 8 of their papers we have counts for
9 papers
Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal
Durgesh Haribhau Salunkhe, Christoforos Spartalis, Jose Capco +2
Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the…
Robots, computer algebra and eight connected components
Jose Capco, Mohab Safey El Din, Josef Schicho
Answering connectivity queries in semi-algebraic sets is a long-standing and challenging computational issue with applications in robotics, in particular for the analysis of kinema…
Inverse Kinematics of Some General 6R/P Manipulators
Jose Capco, Manuel Joseph C. Loquias, Saraleen Mae M. Manongsong +1
We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the…
Two remarks on sums of squares with rational coefficients
Jose Capco, Claus Scheiderer
There exist homogeneous polynomials with -coefficients that are sums of squares over but not over . The only systematic construction of such p…
The number of realizations of a Laman graph
Jose Capco, Matteo Gallet, Georg Grasegger +3
Laman graphs model planar frameworks that are rigid for a general choice of distances between the vertices. There are finitely many ways, up to isometries, to realize a Laman graph…
Real closed * reduced partially ordered rings
Jose Capco
In this work we attempt to generalize our result in [6] [7] for real rings (not just von Neumann regular real rings). In other words we attempt to characterize and construct real c…