Bull. Korean Math. Soc. 2017; 54(6): 2183-2210
Online first article July 26, 2017 Printed November 30, 2017
https://doi.org/10.4134/BKMS.b160840
Copyright © The Korean Mathematical Society.
David Blanc, Nir Shvalb
University of Haifa, Ariel University
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
2017; 54(1): 99-124
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