51:02
publiée le 25 novembre 2021
Faut-il optimiser ou apprendre la marche des robots ?
De Nicolas Mansard
Polynomial Systems Arising in Paradoxical $6R$ Linkages
De Zijia Li
Apparaît dans la collection : 2023 - T3 - WS2 - Geometry of polynomial system solving, optimization and topology
In this talk, we first provide a comprehensive definition of closed n-linkages and explain their mobility, typically denoted as $n-6$. We then focus on the intriguing subset of closed n-linkages with mobility higher than $n-6$, known as paradoxical linkages. Based on the powerful tools of Bond Theory and the freezing technique, we present a thorough classification of n-linkages with mobility of $n-4$ or higher, incorporating revolute, prismatic, or helical joints. Additionally, we explicitly derive strong necessary conditions for $nR$-linkages with mobility of $n-5$. Utilizing these necessary conditions, we explore and discuss possible polynomial systems that arise in paradoxical $6R$ linkages.
