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RATIONALITY OF THE LOCUS OF SINGULARITIES OF THE GENERAL {G}OUGH-{S}TEWART 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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https://hal-univ-rennes1.archives-ouvertes.fr/hal-02083002
Contributor : Michel Coste <>
Submitted on : Tuesday, April 2, 2019 - 10:27:42 AM
Last modification on : Thursday, November 28, 2019 - 10:55:56 PM
Document(s) archivé(s) le : Wednesday, July 3, 2019 - 12:47:46 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 {G}OUGH-{S}TEWART PLATFORM. 2019. ⟨hal-02083002⟩

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