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Journal Articles

Identification of Real and Complex Solution Varieties and Their Singularities Defined by Loop Constraints of Linkages Using the Kinematic Tangent Cone

Andreas Müller, Zijia Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111003.
Paper No: JMR-23-1679
https://doi.org/10.1115/1.4064575
Published Online: March 29, 2024
View Article titled, Identification of Real and Complex Solution Varieties and Their Singularities Defined by Loop Constraints of Linkages Using the Kinematic Tangent Cone
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Topics: Kinematics, Linkages
Proceedings Papers

Identification of Singularities and Real and Complex Solution Varieties of the Loop Constraints of Linkages Using the Kinematic Tangent Cone

Andreas Müller, Zijia Li
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A020, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114638
https://doi.org/10.1115/DETC2023-114638
View Paper titled, Identification of Singularities and Real and Complex Solution Varieties of the Loop Constraints of Linkages Using the Kinematic Tangent Cone
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Topics: Kinematics, Linkages, Geometry, Algebra, Algorithms, Manifolds
Proceedings Papers

Physics Guided Machine Learning Approach to Safe Quasi-Static Impact Situations in Human-Robot Collaboration Following the Power and Force Limiting Method of the ISO/TS 15066 Standard

Nemanja Kovinčić, Hubert Gattringer, Andreas Müller, Mathias Brandstötter
Proc. ASME. IDETC-CIE2023, Volume 10: 19th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V010T10A024, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109517
https://doi.org/10.1115/DETC2023-109517
View Paper titled, Physics Guided Machine Learning Approach to Safe Quasi-Static Impact Situations in Human-Robot Collaboration Following the Power and Force Limiting Method of the ISO/TS 15066 Standard
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Topics: Human-robot collaboration, Machine learning, Physics, Robots, Safety
Proceedings Papers

A Local Constraint Resolution Approach for Dynamics Modeling of Parallel Kinematic Manipulators With Single-Loop Complex Limbs

Andreas Müller
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A015, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90877
https://doi.org/10.1115/DETC2022-90877
View Paper titled, A Local Constraint Resolution Approach for Dynamics Modeling of Parallel Kinematic Manipulators With Single-Loop Complex Limbs
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Modeling, Resolution (Optics)
Proceedings Papers

On the Kinematic Analysis of an Orthogonal Bricard 6R Mechanism

Pierluigi Rea, Maurizio Ruggiu, Andreas Müller
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A022, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89534
https://doi.org/10.1115/DETC2022-89534
View Paper titled, On the Kinematic Analysis of an Orthogonal Bricard 6R Mechanism
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Topics: Kinematic analysis, Kinematics, Screws
Journal Articles

An Analytic and Computational Condition for the Finite Degree-of-Freedom of Linkages, and Its Relation to Lie Group Methods

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041011.
Paper No: JMR-21-1521
https://doi.org/10.1115/1.4054607
Published Online: June 6, 2022
View Article titled, An Analytic and Computational Condition for the Finite Degree-of-Freedom of Linkages, and Its Relation to Lie Group Methods
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Topics: Linkages, Mechanical admittance, Screws
Journal Articles

Singularity-Free Lie Group Integration and Geometrically Consistent Evaluation of Multibody System Models Described in Terms of Standard Absolute Coordinates

Andreas Müller
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. May 2022, 17(5): 051003.
Paper No: CND-21-1320
https://doi.org/10.1115/1.4053368
Published Online: March 8, 2022
View Article titled, Singularity-Free Lie Group Integration and Geometrically Consistent Evaluation of Multibody System Models Described in Terms of Standard Absolute Coordinates
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Topics: Multibody systems, Parametrization, Rotation, Screws, Kinematics, Equations of motion, Algebra
Proceedings Papers

Singularity-Free Lie Group Integration of Multibody System Models Described in Absolute Coordinates

Andreas Müller
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A019, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68186
https://doi.org/10.1115/DETC2021-68186
View Paper titled, Singularity-Free Lie Group Integration of Multibody System Models Described in Absolute Coordinates
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Topics: Multibody systems
Proceedings Papers

An Analytic Condition for the Finite Degree-of-Freedom of Linkages and Its Computational Evaluation

Andreas Müller
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A048, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67468
https://doi.org/10.1115/DETC2021-67468
View Paper titled, An Analytic Condition for the Finite Degree-of-Freedom of Linkages and Its Computational Evaluation
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Topics: Degrees of freedom, Linkages, Screws
Journal Articles

Identification of Non-Transversal Motion Bifurcations of Linkages

Andreas Müller, P.C. López-Custodio, J.S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021015.
Paper No: JMR-20-1287
https://doi.org/10.1115/1.4049658
Published Online: February 23, 2021
View Article titled, Identification of Non-Transversal Motion Bifurcations of Linkages
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Topics: Bifurcation, Kinematics, Linkages
Proceedings Papers

Identification of Non-Transversal Bifurcations of Linkages

Andreas Müller, P. C. López Custodio, J. S. Dai
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A090, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22301
https://doi.org/10.1115/DETC2020-22301
View Paper titled, Identification of Non-Transversal Bifurcations of Linkages
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Topics: Bifurcation, Linkages
Journal Articles

A Supervised Machine Learning Approach for Intelligent Process Automation in Container Logistics

David Bricher, Andreas Müller
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. June 2020, 20(3): 031006.
Paper No: JCISE-19-1172
https://doi.org/10.1115/1.4046332
Published Online: March 25, 2020
View Article titled, A Supervised Machine Learning Approach for Intelligent Process Automation in Container Logistics
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Topics: Containers, Machine learning
Journal Articles

Dynamics Modeling of Topologically Simple Parallel Kinematic Manipulators: A Geometric Approach

Andreas Müller
Journal: Applied Mechanics Reviews
Publisher: ASME
Article Type: Review Articles
Appl. Mech. Rev. May 2020, 72(3): 030801.
Paper No: AMR-19-1035
https://doi.org/10.1115/1.4045428
Published Online: December 23, 2019
View Article titled, Dynamics Modeling of Topologically Simple Parallel Kinematic Manipulators: A Geometric Approach
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Topics: Kinematics, Actuators, Dynamics (Mechanics), Modeling, Equations of motion
Proceedings Papers

A Lie Group Approach to the Modular Modeling of Kinematically Non-Redundant Parallel Mechanisms

Andreas Müller
Proc. ASME. IDETC-CIE2019, Volume 6: 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A043, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98283
https://doi.org/10.1115/DETC2019-98283
View Paper titled, A Lie Group Approach to the Modular Modeling of Kinematically Non-Redundant Parallel Mechanisms
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Topics: Modeling, Parallel mechanisms
Journal Articles

Special Section: Selected Papers From IDETC 2018

Clément Gosselin, Pierre M. Larochelle, Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. April 2019, 11(2): 020301.
Paper No: JMR-19-1060
https://doi.org/10.1115/1.4042958
Published Online: March 13, 2019
View Article titled, Special Section: Selected Papers From IDETC 2018
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Topics: Biomedicine, Computer software, Design, Dynamics (Mechanics), Engineering teachers, Exoskeleton devices, Kinematics, Robotics, Robots, Vehicles
Journal Articles

A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020910.
Paper No: JMR-18-1379
https://doi.org/10.1115/1.4042545
Published Online: February 22, 2019
View Article titled, A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages
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Topics: Approximation, Geometry, Kinematics, Linkages, Screws, Algebra
Proceedings Papers

Matrix Analysis of Second-Order Kinematic Constraints of Single-Loop Linkages in Screw Coordinates

Liheng Wu, Andreas Müller, Jian S. Dai
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A074, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85433
https://doi.org/10.1115/DETC2018-85433
View Paper titled, Matrix Analysis of Second-Order Kinematic Constraints of Single-Loop Linkages in Screw Coordinates
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Topics: Kinematics, Linkages, Screws, Mechanical admittance, Algebra, Boiling, Computers, Dynamic analysis, Jacobian matrices, Stress
Proceedings Papers

A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages

Andreas Müller
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A075, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85526
https://doi.org/10.1115/DETC2018-85526
View Paper titled, A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages
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Topics: Approximation, Geometry, Linkages, Screws, Jacobian matrices, Algebra, Boiling, Mechanical admittance, Polynomials
Proceedings Papers

A Single-Loop 7R Spatial Mechanism That Has Three Motion Modes With the Same Instantaneous DOF but Different Finite DOF

Xianwen Kong, Andreas Müller
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A070, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85125
https://doi.org/10.1115/DETC2018-85125
View Paper titled, A Single-Loop 7R Spatial Mechanism That Has Three Motion Modes With the Same Instantaneous DOF but Different Finite DOF
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Topics: Algebra, Construction, Degrees of freedom, Geometry, Kinematics, Mechanical admittance, Switches
Journal Articles

Higher-Order Analysis of Kinematic Singularities of Lower Pair Linkages and Serial Manipulators

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011008.
Paper No: JMR-16-1390
https://doi.org/10.1115/1.4038528
Published Online: December 22, 2017
View Article titled, Higher-Order Analysis of Kinematic Singularities of Lower Pair Linkages and Serial Manipulators
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Topics: Kinematics, Linkages, Manifolds, Manipulators, Screws