2011/12/11 by David Blanc, Blanc, David, Nir Shvalb +1
Engineering · #70B15 (Secondary) #70G40 (Primary) 57R45 #Algebraic Topology (math.AT) #Differential Geometry (math.DG) #Dynamics and Control of Mechanical Systems #FOS: Mathematics #Mechanics and Biomechanics Studies #Robotic Mechanisms and Dynamics
paper · pdf · doi:10.48550/arxiv.1112.2334
openalex publication_date 2011/12/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We study the topological and differentiable singularities of the configuration space C(Γ) of a mechanical linkage Γin d-dimensional Euclidean space, defining an inductive sufficient condition to determine when a configuration is singular. We show that this condition holds for generic singularities, provide a mechanical interpretation, and give an example of a type of mechanism for which this criterion identifies all singularities.