On singularities of real algebraic sets and applications to kinematics

Open Mathematics

Diesse Marc¹ 

[1] Department of Mathematics and Computer Science, Freie Universität Berlin, Berlin, Germany;

关键词: real algebraic geometry;    singularities;    planar linkages;    kinematics;    14b05;    14p05;    14p15;    13p25;    70b15;   

DOI  :  10.1515/math-2020-0119

来源: DOAJ

【 摘 要 】

We address the question of identifying non-smooth points in Vℝ(I){{\bf{V}}}_{{\mathbb{R}}}(I) the real part of an affine algebraic variety. Two simple algebraic criteria will be formulated and proven. As an application, we investigate the configuration spaces of the planar four-bar linkage and the delta robot and prove that all singularities are CS-singularities.

【 授权许可】

Unknown