Configuration spaces of spatial linkages: Taking collisions into account

David Blanc, Nir Shvalb

Research output: Contribution to journalArticlepeer-review


We construct a completed version (Formula Presented) of the configuration space of a linkage Γ in ℝ3, which takes into account the ways one link can touch another. We also describe a simplified version (Formula Presented) which is a blow-up of the space of immersions of Γ in ℝ3. A number of simple detailed examples are given.

Original languageEnglish
Pages (from-to)2183-2210
Number of pages28
JournalBulletin of the Korean Mathematical Society
Issue number6
StatePublished - 2017

Bibliographical note

Publisher Copyright:
© 2017 Korean Mathematical Society.


  • Configuration space
  • Linkage
  • Mechanism
  • Robotics

ASJC Scopus subject areas

  • General Mathematics


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