Critical configurations of planar robot arms

DOI10.2478/s11533-012-0147-yzbMath1319.51017arXiv1201.5447OpenAlexW2009253598MaRDI QIDQ1939374

Dirk Siersma, Alena Zhukova, Gaiane Yu. Panina, G. N. Khimshiashvili

Publication date: 4 March 2013

Published in: Central European Journal of Mathematics (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1201.5447

zbMATH Keywords

configuration spaceMorse indexmoduli spacemechanical linkagerobot armMorse functioncyclic polygonoriented area

Mathematics Subject Classification ID

Abstract critical point theory (Morse theory, Lyusternik-Shnirel'man theory, etc.) in infinite-dimensional spaces (58E05) Polyhedra and polytopes; regular figures, division of spaces (51M20) Kinematics of mechanisms and robots (70B15)

Related Items (8)

Point charges and polygonal linkages ⋮ Critical configurations of planar robot arms ⋮ Centered configurations of open linkages ⋮ Critical configurations of planar multiple penduli ⋮ Swap action on moduli spaces of polygonal linkages ⋮ Extremal configurations of robot arms in three dimensions ⋮ Coulomb control of polygonal linkages ⋮ Cross-ratios of quadrilateral linkages

Cites Work

• Unnamed Item
• Morse index of a cyclic polygon
• Cyclic polygons are critical points of area
• Critical configurations of planar robot arms
• Critical configurations of planar multiple penduli
• The minimal number of critical points of a function on a compact manifold and the Lusternik-Schnirelman category
• On the moduli space of polygons in the Euclidean plane

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