Extremal configurations of robot arms in three dimensions

Dirk Siersma

doi:10.5427/jsing.2015.12m

Extremal configurations of robot arms in three dimensions

Dirk Siersma^*

^*Corresponding author for this work

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

Abstract

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

Original language	English
Pages (from-to)	180-190
Number of pages	11
Journal	Journal of Singularities
Volume	12
DOIs	https://doi.org/10.5427/jsing.2015.12m
Publication status	Published - 2015

Keywords

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

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10.5427/jsing.2015.12m

siersmaFinal published version, 376 KB

https://arxiv.org/pdf/1403.5913.pdf

Cite this

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title = "Extremal configurations of robot arms in three dimensions",

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

keywords = "Configuration space, Mechanical linkage, Moduli space, Oriented area, Oriented volume, Polygonal linkage, Robot arm",

author = "Dirk Siersma",

year = "2015",

doi = "10.5427/jsing.2015.12m",

language = "English",

volume = "12",

pages = "180--190",

journal = "Journal of Singularities",

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

KW - Configuration space

KW - Mechanical linkage

KW - Moduli space

KW - Oriented area

KW - Oriented volume

KW - Polygonal linkage

KW - Robot arm

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DO - 10.5427/jsing.2015.12m

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SN - 1949-2006

VL - 12

SP - 180

EP - 190

JO - Journal of Singularities

JF - Journal of Singularities

ER -

Extremal configurations of robot arms in three dimensions

Abstract

Keywords

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