Generic singular configurations of linkages

DOI10.1016/J.TOPOL.2011.12.003MaRDI QIDQ409536zbMATH OpenOpenAlexFDO

Authors David Blanc, Nir Shvalb

Publication date 13 April 2012

Published in Topology and its Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1112.2334

zbMATH Keywords

configuration spaceroboticslinkagemechanismkinematic singularitytopological singularityworkspace

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Discriminantal varieties and configuration spaces in algebraic topology (55R80) Topological and differential topological methods for problems in mechanics (70G40)

Abstract: We study the topological and differentiable singularities of the configuration space C(Gamma) of a mechanical linkage Gamma in d-dimensional Euclidean space, defining an inductive sufficient condition to determine when a configuration is singular. We show that this condition holds for generic singularities, provide a mechanical interpretation, and give an example of a type of mechanism for which this criterion identifies all singularities.

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• scientific article; zbMATH DE number 5644820
• On singularities of real algebraic sets and applications to kinematics
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Cited in

(10)

• scientific article; zbMATH DE number 1080098 (Why is no real title available?)
• On singularities of real algebraic sets and applications to kinematics
• The configuration space of \(n\)-tuples of equiangular unit vectors for \(n = 3\), \(4\), and \(5\)
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• scientific article; zbMATH DE number 18024 (Why is no real title available?)
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• On the configurations of closed kinematic chains in three-dimensional space

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