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 Configuration spaces of spatial linkages: taking collisions into account Bull. Korean Math. Soc. 2017 Vol. 54, No. 6, 2183-2210 https://doi.org/10.4134/BKMS.b160840Published online November 30, 2017 David Blanc, Nir Shvalb University of Haifa, Ariel University Abstract : We construct a completed version \w{\CG} of the configuration space of a linkage $\Gamma$ in \w[,\,]{\RR{3}} which takes into account the ways one link can touch another. We also describe a simplified version \w{\tCG} which is a blow-up of the space of immersions of $\Gamma$ in \w[.]{\RR{3}} A number of simple detailed examples are given. Keywords : mechanism, linkage, robotics, configuration space MSC numbers : Primary 70G40; Secondary 57R45, 70B15 Downloads: Full-text PDF