Control of robot arms and Möbius transforms

MaRDI QIDQ819481zbMATH OpenFDO

Authors Jean-Claude Hausmann

Publication date 29 March 2006

Published in L'Enseignement Mathématique. 2e Série (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math/0210477

Mathematics Subject Classification ID

Sub-Riemannian geometry (53C17) Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Abstract: For a m-tuple a=(a_1,...,a_m) of positive real numbers, the robot arm of type a in R^d is the map f^a:(S^{d-1})^m -> R^d defined by f^a(z_1,...,z_m) to be the sum of the a_jz_j's. Our aim is to attack the inverse problem via the horizontal liftings for the distribution Delta^a orthogonal to the fibers of f^a. One shows that the connected components by horizontal curves are the orbits of an actiion on (S^{d-1})^m by a product of groups of Moebius transformations. In several cases, the holonomy orbits of the distribution Delta^a are also described.

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Cited in

(4)

• Möbius transformations and the configuration space of a Hilbert snake
• Motion planning and control of a planar polygonal linkage
• Epicycles in the hyperbolic sky
• Snakes and articulated arms in an Hilbert space

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