Abstract
We study the topological and differentiable singularities of the configuration space C(Γ) of a mechanical linkage Γ in Rd, 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.
Original language | English |
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Pages (from-to) | 877-890 |
Number of pages | 14 |
Journal | Topology and its Applications |
Volume | 159 |
Issue number | 3 |
DOIs | |
State | Published - 15 Feb 2012 |
Keywords
- Configuration space
- Kinematic singularity
- Linkage
- Mechanism
- Primary
- Robotics
- Secondary
- Topological singularity
- Workspace
ASJC Scopus subject areas
- Geometry and Topology