6 papers
Finite Weil Jets, Identity Transfer, and the Exponential Geometry of Proper Orthogonal Tensors
Daniel Condurache
Let be a Weil algebra with . We study the exponential geometry of the proper orthogonal group $\mathrm…
Lie-Algebraic Bell Recurrences for Arbitrary-Order Twist Jets and Parallel-Mechanism Closure
Daniel Condurache
This paper develops an arbitrary-order kinematic construction that links serial propagation, parallel-mechanism closure, and rigid-platform point fields within one dual screw frame…
New Symbolic Procedures in the Study of Dynamical Systems
Daniel Condurache
The thesis develops symbolic representations of dynamical systems in finite-dimensional commutative real algebras. The algebraic framework (orthogonal idempotents, zero divisors, a…
Dual Park-Ravani Interpolation of Rigid Motions: Acceleration-Field Continuity and Holonomic Hermite Repair
Daniel Condurache
The Park-Ravani construction generates a twice continuously differentiable, frame-invariant spline on SO(3) by exponentiating cubic canonical-coordinate polynomials. We show that t…
Arbitrary-Order Hermite Interpolation of Rigid-Motion Jets via Hyper-Multidual Quaternions
Daniel Condurache
We study bilateral interpolation of finite-order rigid-motion jets represented by unit dual quaternions. An order- multidual (MD) algebra is the truncated polynomial algebra $\m…
An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot
Calin Vaida, Iosif Birlescu, Bogdan Gherman +3
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneo…