COMPACTIFICATION OF THE GROUP OF RIGID MOTIONS AND APPLICATIONS TO ROBOTICS

Nestor Djintelbe (1) , Michel Coste (2)

1 UASZ - Université Assane Seck de Ziguinchor [Sénégal]
2 IRMAR - Institut de Recherche Mathématique de Rennes

We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We study in particular the degeneration of the direct kine-matic problem for some parallel robots with three degrees of freedom.

Domaines: Géométrie algébrique [math.AG]; Automatique / Robotique

Nestor Djintelbe, Michel Coste. COMPACTIFICATION OF THE GROUP OF RIGID MOTIONS AND APPLICATIONS TO ROBOTICS. Journal of Pure and Applied Algebra, 2021, 225 (7), pp.article n° 106604. ⟨10.1016/j.jpaa.2020.10660⟩. ⟨hal-02301007⟩