Configuration spaces of spatial linkages: Taking collisions into account

David Blanc; Nir Shvalb

doi:10.4134/BKMS.b160840

Configuration spaces of spatial linkages: Taking collisions into account

David Blanc, Nir Shvalb

Department of Mathematics

Research output: Contribution to journal › Article › peer-review

Abstract

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 language	English
Pages (from-to)	2183-2210
Number of pages	28
Journal	Bulletin of the Korean Mathematical Society
Volume	54
Issue number	6
DOIs	https://doi.org/10.4134/BKMS.b160840
State	Published - 2017

Bibliographical note

Publisher Copyright:
© 2017 Korean Mathematical Society.

Keywords

Configuration space
Linkage
Mechanism
Robotics

ASJC Scopus subject areas

General Mathematics

Access to Document

10.4134/BKMS.b160840

Cite this

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title = "Configuration spaces of spatial linkages: Taking collisions into account",

abstract = "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.",

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AB - 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.

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KW - Linkage

KW - Mechanism

KW - Robotics

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Configuration spaces of spatial linkages: Taking collisions into account

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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