Master Thesis

Representation and Computation of 3R Robot Singularities using Tensor Diagrams

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  • If you are interested in the proposal, please contact with the supervisors.


In mathematics and physics, tensor diagram notation is a visual depiction of multilinear functions or tensors proposed by Roger Penrose in 1971. This notation has revealed of interest to represent and solve geometric problems. The goal of the thesis is to use tensor diagrams to represent and compute the singularities of 3R robots, including its nodes and cusps, and higher order singularities such as lips, beaks, and swallowtails

The work is under the scope of the following projects:

  • ColRobTransp: Colaboracion robots-humanos para el transporte de productos en zonas urbanas (web)