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COMPACTIFICATION OF THE GROUP OF RIGID MOTIONS AND APPLICATIONS TO ROBOTICS

Abstract : 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.
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Submitted on : Monday, September 30, 2019 - 10:21:23 AM
Last modification on : Wednesday, September 14, 2022 - 5:14:26 PM
Long-term archiving on: : Monday, February 10, 2020 - 4:14:55 AM

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

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