Regina Lectures on Fat Points

These notes are a record of lectures given in the Workshop on Connections Between Algebra and Geometry at the University of Regina, May 29--June 1, 2012. The lectures were meant as an introduction to current research problems related to fat points for an audience that was not expected to have much background in commutative algebra or algebraic geometry (although sections 8 and 9 of these notes demand somewhat more background than earlier sections).Comment: 32 pages, 3 figure

Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables

Cable-driven parallel robots (CDPRs) are under-actuated if they use a number of cables smaller than the degrees of freedom (DoF) of the end-effector (EE). For these robots, the constraint deficiency on the EE may lead to undesirable EE oscillations along the path that it is supposed to track. This paper proposes a trajectory-planning method for underactuated CDPRs which is robust against dynamic-model uncertainties or parameter variation, aiming at minimizing EE oscillations along a prescribed path. Oscillation reduction and robustness are achieved by means of Zero-Vibration Multi-Mode Input Shaping and Dynamic Scaling of a reference trajectory. Simulation results show the effectiveness of the method on a 3-cable 6-DoF robot