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—The standard forward kinematics analysis of 3-RPR planar parallel robots boils down to computing the roots of a sextic polynomial. There are many different ways to obtain this polynomial but most of them include exceptions for which the formulation is not valid. Unfortunately, near these exceptions the corresponding polynomial exhibits numerical… (More)

—The real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully-parallel planar robots can be derived directly from that of the widely known 3-RPR robot by simply formulating these polynomials in terms of distances and… (More)

— In most practical implementations of the Gough-Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particular instance of the Gough-Stewart platform, commonly known as the octahedral manipulator, has been thoughtfully studied. It is well-known, for example, that its forward kinematics can be solved… (More)

— This paper presents a first attempt at a unified kinematics analysis of all serial and parallel solvable robots, that is, robots whose position analysis can be carried out without relying on numerical methods. The efforts herein are focused on finding a unified formulation for all quartically-solvable robots, as all other solvable robots can be seen as… (More)

This paper proposes a two-step ants algorithm for the Multidimensional Knapsack Problem. In the first step, the algorithm uses an Anti-pheromone to detect which objects are less suitable to be part of a near-optimal solution solving the opposite problem. From this information, in the second step an ant-based algorithm continues searching for better… (More)