A classification of configuration spaces of planar robot arms for a continuous inverse kinematics problem

DOI10.1007/s10440-014-9973-1zbMath1321.70004arXiv1309.7960OpenAlexW2001353816MaRDI QIDQ499742

Mihail Pivtoraiko, Subhrajit Bhattacharya

Publication date: 6 October 2015

Published in: Acta Applicandae Mathematicae (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1309.7960

zbMATH Keywords

classificationMorse theoryconfiguration spaceinverse kinematicsplanningrobot armdifferential topology

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (1)

robot_arm

Uses Software

• OpenGL
• JavaScript

Cites Work

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• The geometry of configuration spaces for closed chains in two and three dimensions
• A global steering method for nonholonomic systems
• A continuation method for motion-planning problems
• On foliations with Morse singularities
• Morse Theory. (AM-51)
• 3-D Computer Graphics
• An invitation to Morse theory
• On the moduli space of polygons in the Euclidean plane

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