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.b160840
Published 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  


Copyright © Korean Mathematical Society. All Rights Reserved.
The Korea Science Technology Center (Rm. 411), 22, Teheran-ro 7-gil, Gangnam-gu, Seoul 06130, Korea
Tel: 82-2-565-0361  | Fax: 82-2-565-0364  | E-mail: paper@kms.or.kr   | Powered by INFOrang Co., Ltd