Configuration spaces of spatial linkages: Taking collisions into account

David Blanc; Nir Shvalb

doi:10.4134/BKMS.b160840

Configuration spaces of spatial linkages: Taking collisions into account

David Blanc, Nir Shvalb

University of Haifa, Ariel University

Research output: Contribution to journal › Article › peer-review

Abstract

We construct a completed version (Formula Presented) of the configuration space of a linkage Γ in ℝ³, which takes into account the ways one link can touch another. We also describe a simplified version (Formula Presented) which is a blow-up of the space of immersions of Γ in ℝ³. A number of simple detailed examples are given.

Original language	American English
Pages (from-to)	2183-2210
Number of pages	28
Journal	Bulletin of the Korean Mathematical Society
Volume	54
Issue number	6
DOIs	https://doi.org/10.4134/BKMS.b160840
State	Published - 2017

Keywords

Configuration space
Linkage
Mechanism
Robotics

All Science Journal Classification (ASJC) codes

General Mathematics

Access to Document

10.4134/BKMS.b160840

Cite this

@article{d1e5f9fc15524f939727debae8f31bfc,

title = "Configuration spaces of spatial linkages: Taking collisions into account",

abstract = "We construct a completed version (Formula Presented) of the configuration space of a linkage Γ in ℝ3, which takes into account the ways one link can touch another. We also describe a simplified version (Formula Presented) which is a blow-up of the space of immersions of Γ in ℝ3. A number of simple detailed examples are given.",

keywords = "Configuration space, Linkage, Mechanism, Robotics",

author = "David Blanc and Nir Shvalb",

note = "Publisher Copyright: {\textcopyright} 2017 Korean Mathematical Society.",

year = "2017",

doi = "10.4134/BKMS.b160840",

language = "American English",

volume = "54",

pages = "2183--2210",

journal = "Bulletin of the Korean Mathematical Society",

issn = "1015-8634",

publisher = "Korean Mathematical Society",

number = "6",

}

TY - JOUR

T1 - Configuration spaces of spatial linkages

T2 - Taking collisions into account

AU - Blanc, David

AU - Shvalb, Nir

PY - 2017

Y1 - 2017

N2 - We construct a completed version (Formula Presented) of the configuration space of a linkage Γ in ℝ3, which takes into account the ways one link can touch another. We also describe a simplified version (Formula Presented) which is a blow-up of the space of immersions of Γ in ℝ3. A number of simple detailed examples are given.

AB - We construct a completed version (Formula Presented) of the configuration space of a linkage Γ in ℝ3, which takes into account the ways one link can touch another. We also describe a simplified version (Formula Presented) which is a blow-up of the space of immersions of Γ in ℝ3. A number of simple detailed examples are given.

KW - Configuration space

KW - Linkage

KW - Mechanism

KW - Robotics

UR - http://www.scopus.com/inward/record.url?scp=85035777419&partnerID=8YFLogxK

U2 - 10.4134/BKMS.b160840

DO - 10.4134/BKMS.b160840

M3 - Article

SN - 1015-8634

VL - 54

SP - 2183

EP - 2210

JO - Bulletin of the Korean Mathematical Society

JF - Bulletin of the Korean Mathematical Society

IS - 6

ER -

Configuration spaces of spatial linkages: Taking collisions into account

Abstract

Keywords

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this