| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 4661390 | Topology and its Applications | 2007 | 25 Pages |
Abstract
The configuration space of the mechanism of a planar robot is studied. We consider a robot which has n arms such that each arm is of length 1+1 and has a rotational joint in the middle, and that the endpoint of the kth arm is fixed to . Generically, the configuration space is diffeomorphic to an orientable closed surface. Its genus is given by a topological way and a Morse theoretical way. The homeomorphism types of it when it is singular is also given.
Related Topics
Physical Sciences and Engineering
Mathematics
Geometry and Topology
