Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6861188 | Journal of Symbolic Computation | 2018 | 16 Pages |
Abstract
For a polygonal linkage, we produce a fast navigation algorithm on its configuration space. The basic idea is to approximate M(L) by the vertex-edge graph of the cell decomposition of the configuration space discovered by the first author. The algorithm has three aspects: (1) the number of navigation steps does not exceed 15 (independent of the linkage), (2) each step is a disguised flex of a quadrilateral from one triangular configuration to another, which is a well understood type of flex, and (3) each step can be performed explicitly by adding some extra bars and obtaining a mechanism with one degree of freedom.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Gaiane Panina, Dirk Siersma,