Compactification of the group of rigid motions and applications to robotics

2019/10/01 by Nestor Djintelbe, Michel Coste, Djintelbe, Nestor +1
Engineering · Mathematics · #Advanced Numerical Analysis Techniques #Algebraic Geometry (math.AG) #FOS: Mathematics #Geometric and Algebraic Topology #Robotic Mechanisms and Dynamics

paper · doi:10.48550/arxiv.1910.00319

openalex publication_date 2019/10/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We study in particular the degeneration of the direct kine-matic problem for some parallel robots with three degrees of freedom.

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