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SUMMARY:Petar Pavešić (University of Ljubljana - Slovenia)
DTSTART:20230908T160000Z
DTEND:20230908T170000Z
DTSTAMP:20260423T023021Z
UID:GEOTOP-A/50
DESCRIPTION:Title: <a href="https://researchseminars.org/talk/GEOTOP-A/50/
 ">Singularity-free motion planning for redundant parallel manipulators</a>
 \nby Petar Pavešić (University of Ljubljana - Slovenia) as part of GEOTO
 P-A seminar\n\n\nAbstract\nSome twenty years ago Michael Farber defined th
 e topological complexity of robot motion\nplanning as a measure of the dif
 ficulty to construct predictable motion plans for mechanical devices\n(lik
 e robots) that are allowed to move in a given work space. More recently\, 
 we defined the\ncomplexity of a kinematic map that takes into account the 
 kinematic relation between the internal\nstates of a serial mechanism and 
 its spatial poses. In our talk we will discuss a more general motion plann
 ing for parallel mechanisms. In particular\, we will consider mechanisms t
 hat are redundant in\nthe sense that the dimension of their joint space is
  strictly bigger than the dimension of their work\nspace. The additional d
 egrees of freedom allow motion paths that avoid critical configurations of
 \njoints\, and we will discuss how difficult it is to construct predictabl
 e singularity-free motion plans that\nperform a given set of tasks. This i
 s joint work with Edward Haug and Adrian Peidro.\n
LOCATION:https://researchseminars.org/talk/GEOTOP-A/50/
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