Extremal configurations of robot arms in three dimensions

Dirk Siersma*

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

Abstract

We define a volume function for a robot arm in ℝ3 and give geometric conditions for its critical points.

Original languageEnglish
Pages (from-to)180-190
Number of pages11
JournalJournal of Singularities
Volume12
DOIs
Publication statusPublished - 2015

Keywords

  • Configuration space
  • Mechanical linkage
  • Moduli space
  • Oriented area
  • Oriented volume
  • Polygonal linkage
  • Robot arm

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