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Josef Schicho

Publications and source records attributed to Josef Schicho.

At least 73 records · Page 4Linked to original sources
arXiv2015

7R Darboux Linkages by Factorization of Motion Polynomials

In this paper, we construct two types of 7R closed single loop linkages by combining different factorizations of a general (non-vertical) Darboux motion. These factorizations are obtained by extensions of a factorization algorithm for a generic rational motion. The first type of 7R linkages has several one-dimensional configuration components and one of them corresponds to the Darboux motion. The other type is a 7R linkage with two degrees of freedom and without one-dimensional component. The Darboux motion is a curve in an irreducible two dimensional configuration component.

cs.RO↗
arXiv2015

Factorization of Motion Polynomials

In this paper, we consider the existence of a factorization of a monic, bounded motion polynomial. We prove existence of factorizations, possibly after multiplication with a real polynomial and provide algorithms for computing polynomial factor and factorizations. The first algorithm is conceptually simpler but may require a high degree of the polynomial factor. The second algorithm gives an optimal degree.

cs.SC↗
arXiv2015

Ambiguities in a Problem in Planar Geodesy

This is a study of a problem in geodesy with methods from complex algebraic geometry: for a fixed number of measure points and target points at unknown position in the Euclidean plane, we study the problem of determining their relative position when the viewing angles between target points seen from measure points are known. In particular, we determine all situations in which there is more than one solution.

math.AG↗
arXiv2015

Möbius Photogrammetry

Motivated by results on the mobility of mechanical devices called pentapods, this paper deals with a mathematically freestanding problem, which we call Möbius Photogrammetry. Unlike traditional photogrammetry, which tries to recover a set of points in three-dimensional space from a finite set of central projection, we consider the problem of reconstructing a vector of points in $\mathbb{R}^3$ starting from its orthogonal parallel projections. Moreover, we assume that we have partial information about these projections, namely that we know them only up to Möbius transformations. The goal in this case is to understand to what extent we can reconstruct the starting set of points, and to prove that the result can be achieved if we allow some uncertainties in the answer. Eventually, the techniques developed in the paper allow us to show that for a pentapod with mobility at least two either some anchor points are collinear, or platform and base are similar, or they are planar and affine equivalent.

math.AG↗
arXiv2014

Spatial Straight Line Linkages by Factorization of Motion Polynomials

We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph is a cycle. In particular, we obtain a number of linkages with four revolute and two prismatic joints and a remarkable linkage with seven revolute joints one of whose joints performs a Darboux motion.

math.MG↗
arXiv2014

Pentapods with Mobility 2

In this paper we give a full classification of all pentapods with mobility 2, where neither all platform anchor points nor all base anchor points are located on a line. Therefore this paper solves the famous Borel-Bricard problem for 2-dimensional motions beside the excluded case of five collinear points with spherical trajectories. But even for this special case we present three new types as a side-result. Based on our study of pentapods, we also give a complete list of all non-architecturally singular hexapods with 2-dimensional self-motions.

cs.RO↗
arXiv2014

Bond theory for pentapods and hexapods

This paper deals with the old and classical problem of determining necessary conditions for the overconstrained mobility of some mechanical device. In particular, we show that the mobility of pentapods/hexapods implies either a collinearity condition on the anchor points, or a geometric condition on the normal projections of base and platform points. The method is based on a specific compactification of the group of direct isometries of $\mathbb{R}^3$.

cs.RO↗
arXiv2014

An algebraic study of linkages with helical joints

Methods from algebra and algebraic geometry have been used in various ways to study linkages in kinematics. These methods have failed so far for the study of linkages with helical joints (joints with screw motion), because of the presence of some non-algebraic relations. In this article, we explore a delicate reduction of some analytic equations in kinematics to algebraic questions via a theorem of Ax. As an application, we give a classification of mobile closed 5-linkages with revolute, prismatic, and helical joints.

cs.RO↗
arXiv2014

A Simplified Game for Resolution of Singularities

We will describe a combinatorial game that models the problem of resolution of singularities of algebraic varieties over a field of characteristic zero. By giving a winning strategy for this game, we give another proof of the existence of resolution.

math.AG↗
arXiv2013

The Theory of Bonds II: Closed 6R Linkages with Maximal Genus

In this paper, we introduce a method that allows to produce necessary conditions on the Denavit--Hartenberg parameters for the mobility of a closed linkage with six rotational joints. We use it to prove that the genus of the configuration curve of a such a linkage is at most five, and to give a complete classification of the linkages with a configuration curve of degree four or five. The classification contains new families.

math.AG↗
arXiv2013

Four-Pose Synthesis of Angle-Symmetric 6R Linkages

We use the recently introduced factorization theory of motion polynomials over the dual quaternions for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. Our approach admits either no or a one-parametric family of solutions. We suggest strategies for picking good solutions from this family.

cs.RO↗
arXiv2013

The Theory of Bonds: A New Method for the Analysis of Linkages

In this paper we introduce a new technique, based on dual quaternions, for the analysis of closed linkages with revolute joints: the theory of bonds. The bond structure comprises a lot of information on closed revolute chains with a one-parametric mobility. We demonstrate the usefulness of bond theory by giving a new and transparent proof for the well-known classification of overconstrained 5R linkages.

math.AG↗
arXiv2013

Computational aspects of gonal maps and radical parametrization of curves

We develop in this article an algorithm that, given a projective curve $C$, computes a \textit{gonal map}, that is, a finite morphism from $C$ to the projective line of minimal degree. Our method is based on the computation of scrollar syzygies of canonical curves. We develop an improved version of our algorithm for curves with a unique gonal map and we discuss a characterization of such curves in terms of Betti numbers. Finally, we derive an efficient algorithm for radical parametrization of curves of gonality $\le 4$.

math.AG↗
arXiv2013

Classification of Angle-Symmetric 6R Linkage

In this paper, we consider a special kind of overconstrained 6R closed linkages which we call angle-symmetric 6R linkages. These are linkages with the property that the rotation angles are equal for each of the three pairs of opposite joints. We give a classification of these linkages. It turns that there are three types. First, we have the linkages with line symmetry. The second type is new. The third type is related to cubic motion polynomials.

math.AG↗
arXiv2012

Factorization of Rational Curves in the Study Quadric and Revolute Linkages

Given a generic rational curve $C$ in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly $C$. Our construction is based on the factorization of polynomials over dual quaternions. Low degree examples include the Bennett mechanisms and contain new types of overconstrained 6R-chains as sub-mechanisms.

math.RA↗
arXiv2011

Splitting full matrix algebras over algebraic number fields

Let K be an algebraic number field of degree d and discriminant D over Q. Let A be an associative algebra over K given by structure constants such that A is isomorphic to the algebra M_n(K) of n by n matrices over K for some positive integer n. Suppose that d, n and D are bounded. Then an isomorphism of A with M_n(K) can be constructed by a polynomial time ff-algorithm. (An ff-algorithm is a deterministic procedure which is allowed to call oracles for factoring integers and factoring univariate polynomials over finite fields.) As a consequence, we obtain a polynomial time ff-algorithm to compute isomorphisms of central simple algebras of bounded degree over K.

math.RA↗
arXiv2011

Tschirnhaus-Weierstrass curves

We define the concept of Tschirnhaus-Weierstrass curve, named after the Weierstrass form of an elliptic curve and Tschirnhaus transformations. Every pointed curve has a Tschirnhaus-Weierstrass form, and this representation is unique up to a scaling of variables. This is useful for computing isomorphisms between curves.

math.AG↗