Josef Schicho

We define the concept of Tschirnhaus-Weierstrass curve, named after the Weierstrass form of an elliptic curve and Tschirnhaus transformations. Every pointed curve has a Tschirnhaus-Weierstrass form, and this representation is unique up to a scaling of variables. This is useful for computing isomorphisms between curves.

We use the recently introduced factorization theory of motion polynomials over the dual quaternions for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. Our approach admits either no or a one-parametric family of solutions. We suggest strategies for picking good solutions from this family.

In this paper we introduce a new technique, based on dual quaternions, for the analysis of closed linkages with revolute joints: the theory of bonds. The bond structure comprises a lot of information on closed revolute chains with a one-parametric mobility. We demonstrate the usefulness of bond theory by giving a new and transparent proof for the well-known classification of overconstrained 5R linkages.

We generalize an inequality for convex lattice polygons -- aka toric surfaces -- to general rational surfaces.

In this paper, we consider a special kind of overconstrained 6R closed linkages which we call angle-symmetric 6R linkages. These are linkages with the property that the rotation angles are equal for each of the three pairs of opposite joints. We give a classification of these linkages. It turns that there are three types. First, we have the linkages with line symmetry. The second type is new. The third type is related to cubic motion polynomials.