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Journal Articles

Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming

Wankun Sirichotiyakul, Volkan Patoglu, Aykut C. Satici
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061004.
Paper No: JMR-19-1546
https://doi.org/10.1115/1.4046997
Published Online: May 11, 2020
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Topics: Approximation, Computer programming, Kinematics, Manipulators, Optimization, Polynomials, End effectors, Parallel mechanisms, Silicon-on-sapphire