2 papers
cs.RO2025
ODE Methods for Computing One-Dimensional Self-Motion Manifolds
Dominic Guri, George Kantor
Redundant manipulators are well understood to offer infinite joint configurations for achieving a desired end-effector pose. The multiplicity of inverse kinematics (IK) solutions a…
cs.RO2025
A Systematic Robot Design Optimization Methodology with Application to Redundant Dual-Arm Manipulators
Dominic Guri, George Kantor
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in comple…