Details:
Title | Configuration space analysis of rigid mechanisms. | Author(s) | Samuli Piipponen, Jukka Tuomela | Type | Article in Journal | Abstract | In mechanical engineering and robotics, the main problem is usually to solve the equations
of motion of a given rigid mechanism. The rigid mechanisms are sometimes restricted or controlled
to move along a constrained path. In engineering sciences, the most common constraints are called
ideal joint constraints. The ideal joint constraints are generally holonomic constraints involving only the
coordinates and orientation of a mechanism with respect to a fixed coordinate frame. An important aspect
is that ideal joint constraints can be formulated as a set of polynomial equations. This means that the
configuration spaces of typical rigid mechanisms can be treated as algebraic varieties and the components
of a constraint function as generators of a polynomial ideal. This geometry algebra equivalence and
the advances of computational commutative algebra and algebraic geometry gives us means to actually
compute the properties of configuration spaces. | Keywords | | ISSN | 1787-2405; 1787-2413/e |
Language | English | Journal | Miskolc Math. Notes | Volume | 14 | Number | 2 | Pages | 685--695 | Publisher | Miskolc University Press, Miskolc | Year | 2013 | Edition | 0 | Translation |
No | Refereed |
No |
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