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Journal articles
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.
Cited literature [11 references]
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 : Monday, February 22, 2021 - 4:28:18 PM
Long-term archiving on: : Wednesday, July 3, 2019 - 12:47:46 PM
Contributor : Michel Coste <>
Submitted on : Tuesday, April 2, 2019 - 10:27:42 AM
Last modification on : Monday, February 22, 2021 - 4:28:18 PM
Long-term archiving on: : Wednesday, July 3, 2019 - 12:47:46 PM
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GS_arxiv.pdf
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