Rationality of the locus of singularities of the general Gough-Stewart platform
Résumé
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.
Domaines
Géométrie algébrique [math.AG]
Origine : Fichiers produits par l'(les) auteur(s)
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