PhD Thesis

Position Analysis Based on Multi-Affine Formulations and their Approximations

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  • Started: 23/01/2019


The main objective of the proposed thesis is to develop a simple and general method for the position analysis of mechanisms by formulating the problem as a multi-affine algebraic system of equations.

The work is under the scope of the following projects:

  • KINODYN: Kinodynamic planning of efficient and agile robot motions (web)