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cs.SC2022★ 6 cited
Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic Geometry
Damien Chablat, Rémi Prébet, Mohab Safey El Din +2
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been st…
cs.SC2022
Exact SOHS decompositions of trigonometric univariate polynomials with Gaussian coefficients
Victor Magron, Mohab Safey El Din, Markus Schweighofer +1
Certifying the positivity of trigonometric polynomials is of first importance for design problems in discrete-time signal processing. It is well known from the Riesz-Fejéz spectral…