2019/04/03 by Coste, Michel, Moussa, Seydou
#Algebraic Geometry (math.AG) #FOS: Mathematics
paper · doi:10.48550/arxiv.1904.01837
We prove that the set of singular configurations of a general Gough Stewart platform has a rational parametrization. We introduce a reciprocal twist mapping which, for a general orientation of the platform, realizes the cubic surface of singularities as the blowing up of a quadric surface in five points.