Bulletin of the
Korean Mathematical Society
BKMS

ISSN(Print) 1015-8634 ISSN(Online) 2234-3016

Article

HOME ALL ARTICLES View

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.

Configuration spaces of spatial linkages: taking collisions into account

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