RATIONALITY OF THE LOCUS OF SINGULARITIES OF THE GENERAL GOUGH-STEWART PLATFORM

Abstract : We prove that the set of singular configurations of a general Gough Stewart platform has a rational parametrization. We introduce a reciprocal twist mapping which, for a general orientation of the platform, realizes the cubic surface of singularities as the blowing up of a quadric surface in five points.
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Submitted on : Tuesday, April 2, 2019 - 10:27:42 AM
Last modification on : Tuesday, November 5, 2019 - 4:18:22 PM
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  • HAL Id : hal-02083002, version 1
  • ARXIV : 1904.01837

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Michel Coste, Seydou Moussa. RATIONALITY OF THE LOCUS OF SINGULARITIES OF THE GENERAL GOUGH-STEWART PLATFORM. 2019. ⟨hal-02083002⟩

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