arXiv subjects

Safey El Din Mohab

Publications and source records attributed to Safey El Din Mohab.

2 recordsLinked to original sources

arXiv2020

Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator

The Inverse Kinematics (IK) problem is to nd robot control parameters to bring it into the desired position under the kinematics and collision constraints. We present a global solution to the optimal IK problem for a general serial 7DOF manipulator with revolute joints and a quadratic polynomial objective function. We show that the kinematic constraints due to rotations can all be generated by second-degree polynomials. This is important since it signicantly simplies further step where we nd the optimal solution by Lasserre relaxations of non-convex polynomial systems. We demonstrate that the second relaxation is sucient to solve the 7DOF IK problem. Our approach is certiably globally optimal. We demonstrate the method on the 7DOF KUKA LBR IIWA manipulator and show that we are able to compute the optimal IK or certify in-feasibility in 99 % tested poses.

cs.RO↗

arXiv2014

Computing necessary integrability conditions for planar parametrized homogeneous potentials

Let $V\in\mathbb{Q}(i)(\a_1,\dots,\a_n)(\q_1,\q_2)$ be a rationally parametrized planar homogeneous potential of homogeneity degree $k\neq -2, 0, 2$. We design an algorithm that computes polynomial \emph{necessary} conditions on the parameters $(\a_1,\dots,\a_n)$ such that the dynamical system associated to the potential $V$ is integrable. These conditions originate from those of the Morales-Ramis-Simó integrability criterion near all Darboux points. The implementation of the algorithm allows to treat applications that were out of reach before, for instance concerning the non-integrability of polynomial potentials up to degree $9$. Another striking application is the first complete proof of the non-integrability of the \emph{collinear three body problem}.

cs.SC↗