Articulated arm and special multi-flags

MaRDI QIDQ4904890zbMATH OpenFDO

Authors Mayada Slayman, F. Pelletier

Publication date 13 February 2013

Full work available at URL https://arxiv.org/abs/1205.2990

zbMATH Keywords

Goursat distributionscar with \(n\) trailersarticulated armspecial multi-flags distributions

Mathematics Subject Classification ID

Vector distributions (subbundles of the tangent bundles) (58A30) Automated systems (robots, etc.) in control theory (93C85) Geometric methods (93B27) Differential line geometry (53A25)

Abstract: In this paper we give a kinematical illustration of some distributions called special multi-flags distributions. Precisely we define the kinematic model in angular coordinates of an articulated arm constituted of a series of (n + 1) segments in Rk+1 and construct the special multi-flag distribution associated to this model.

Recommendations

• Configurations of an articulated arm and singularities of special multi-flags
• Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus
• The car with N Trailers : characterization of the singular configurations
• Configuration space of some mechanical system and towers of bundles associated to a special multi-flag
• Some properties of the general n-trailer

Cited in

(4)

• Configurations of an articulated arm and singularities of special multi-flags
• Symmetries of special 2-flags
• Complete spelling rules for the Monster tower over three-space
• Configuration space of some mechanical system and towers of bundles associated to a special multi-flag

This page was built for publication: Articulated arm and special multi-flags

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4904890)