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Alba Perez Robotics and Automation Laboratory Group for the Analysis and Synthesis of Spatial Movement. University of California, Irvine Irvine, California, 92697 Phone number: 949-824 8051 Email address: maperez@uci.edu.

A brief description of my research:

Constrained robotics systems are serial or parallel robots with less than six degrees of freedom. Dimensional synthesis is defined as the process of dimensioning a robot, that is, designing the link dimensions for a given task or set of tasks. In finite-position synthesis, we define the task as a series of positions that the robot must reach.
Dimensional synthesis of planar mechanisms was first solved using graphic methods, and later those methods were transformed into algebraic equations that described the constraints on the movement of the mechanism. This approach was successfully applied to spherical mechanisms and simple cases of spatial mechanisms.
In my research I have developed a method for the kinematic synthesis of constrained robots. It is based on the use of dual quaternions to construct the kinematics equations of the robot from a reference position and to equate them to a set of task positions. Using these equations, we can compute the maximum number of task positions for each robot topology.
The design equations produced using this methodology can be solved numerically for both the link dimensions and the joint variables. I also developed a method to eliminate the joint variables in order to obtain algebraic equations. These have been further simplified to closed algebraic expressions in several cases. For more details, consult the following link to research papers and other documents.

	Journal and conference papers and presentations.

	Actual research lines.

	Resume.