Epsilon local rigidity and numerical algebraic geometry

DOI10.1142/S0219498822500098MaRDI QIDQ5030251zbMATH OpenOpenAlexFDO

Authors Andrew Frohmader, Alexander Heaton

Publication date 16 February 2022

Published in Journal of Algebra and its Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2002.06154

zbMATH Keywords

kinematicsreal algebraic geometryrigidityhomotopy continuationnumerical algebraic geometrymechanism mobility

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Computational aspects in algebraic geometry (14Q99) Computer-aided design (modeling of curves and surfaces) (65D17)

Abstract: A well-known combinatorial algorithm can decide generic rigidity in the plane by determining if the graph is of Pollaczek-Geiringer-Laman type. Methods from matroid theory have been used to prove other interesting results, again under the assumption of generic configurations. However, configurations arising in applications may not be generic. We present Theorem 5 and its corresponding Algorithm 1 which decide if a configuration is epsilon-locally rigid, a notion we define. A configuration which is epsilon-locally rigid may be locally rigid or flexible, but any continuous deformations remain within a sphere of radius epsilon in configuration space. Deciding epsilon-local rigidity is possible for configurations which are smooth or singular, generic or non-generic. We also present Algorithms 2 and 3 which use numerical algebraic geometry to compute a discrete-time sample of a continuous flex, providing useful visual information for the scientist.

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Cited in

(2)

• Algorithmic Search for Flexibility Using Resultants of Polynomial Systems
• Rigidity in elliptic curve local-global principles

Describes a project that uses

Uses Software

• tensegrity
• GitHub
• HomotopyContinuation
• alphaCertified
• Bertini
• PHCpack
• HOM4PS

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