Configurations of an articulated arm and singularities of special multi-flags

DOI10.3842/SIGMA.2014.059MaRDI QIDQ401236zbMATHOpenAlexFDO

Authors F. Pelletier, Mayada Slayman

Publication date 26 August 2014

Published in SIGMA. Symmetry, Integrability and Geometry: Methods and Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1205.2992

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zbMATH Keywords

configuration spaceGoursat distributionCartan prolongationspherical prolongation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Applications of differential geometry to physics (53Z05)

Abstract: P. Mormul has classified the singularities of special multi-flags in terms of "EKR class" encoded by sequences $j_1,dots,j_k$ of integers (see [Singularity Theory Seminar, Warsaw University of Technology, Vol. 8, 2003, 87-100] and [Banach Center Publ., Vol. 65, Polish Acad. Sci., Warsaw, 2004, 157-178]). However, A.L. Castro and R. Montgomery have proposed in [Israel J. Math. 192 (2012), 381-427] a codification of singularities of multi-flags by RC and RVT codes. The main results of this paper describe a decomposition of each "EKR" set of depth $1$ in terms of RVT codes as well as characterize such a set in terms of configurations of an articulated arm. Indeed, an analogue description for some "EKR" sets of depth $2$ is provided. All these results give rise to a complete characterization of all "EKR" sets for $1leqkleq4$.

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