Modular Kinematic Reduction of Closed-Chain Mechanisms Using Path Assembly and Defect Homotopy

Published September 11, 2026 · Category: Robotics

Overview

arXiv:2609.11338v1 Announce Type: new Abstract: Closed kinematic chains complicate modular modeling by coupling active and passive coordinates through nonlinear closure constraints. This paper presents a Path-Assembled Closure Differential Mapping (PACDM) framework for modular closure resolution and kinematic reduction. Each closure element compares two ordered transformation paths with common endpoints, with their mismatch expressed through the logarithm on SE(3) and the corresponding Jacobian assembled from local transformation derivatives. Multi-path modules are constructed from a minimal set of pairwise closure elements, while rank-revealing analysis selects locally independent scalar constraints. A defect homotopy recovers closure-consistent passive coordinates from approximate estimates along a feasible and regular continuation path. At regular configurations, implicit differentiation yields the local active-to-passive differential mapping, which is subsequently used in a predictor-corrector continuation procedure for prescribed motion. The framework is evaluated on a seven-degree-of-freedom heavy-duty manipulator containing two-path and three-path closed-chain modules. Comparison with Simscape Multibody yields trajectory root-mean-square errors below 8.5 x 10^-10 rad, while predictor-corrector continuation is approximately 45.8 times faster than applying defect homotopy at every trajectory sample.

Source

Originally published at arxiv.org.

Related Articles

• When Information is Worth the Risk: Behavioral Valuation for Hazardous Robotic Exploration
• Expressive Robotic Pianist: Mastering Complex Piano Repertoire with Graph-Mimic and Musical Dynamics
• ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations