Integrable systems in planar robotics

MaRDI QIDQ4965850zbMATH OpenFDO

Authors Nguyen Tien Zung, T. S. Ratiu

Publication date 10 March 2021

Full work available at URL https://arxiv.org/abs/1909.09707, http://mathnet.ru/eng/cheb912

zbMATH Keywords

commuting flowscross-product of integrable systemsNambu structurenon-Hamiltonian integrabilityplanar linkagevolume form

Mathematics Subject Classification ID

Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Abstract: The main purpose of this paper is to investigate commuting flows and integrable systems on the configuration spaces of planar linkages. Our study leads to the definition of a natural volume form on each configuration space of planar linkages, the notion of cross products of integrable systems, and also the notion of multi-Nambu integrable systems. The first integrals of our systems are functions of Bott-Morse type, which may be used to study the topology of configuration spaces. Dedicated to Anatoly T. Fomenko on the occasion of his 75th birthday

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Cited in

(1)

• Topology of Liouville foliations of integrable billiards on table-complexes

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