Configuration Spaces of Spatial Linkages
D. Blanc and N. Shvalb
https://doi.org/10.19124/ima.2015.001.03
Abstract
Most useful linkages are spatial. Commonly, for such a mechanism there are configurations c 2 C were two links or more intersect. We introduce a mathematical framework to deal with the neighbourhood of c and define virtual configurations in which two links touch. Cauchy sequences are then used to approximate these configurations. As for the global structure, we show how the completion of the configuration space relates to a virtual configuration space were all lines meet the origin. We conclude the paper with some explicit example.