Homology of planar telescopic linkages

Details Homology of planar telescopic linkages Homology of planar telescopic linkages

2009-09-16

arxiv.org/abs/0909.3023v1

Mathematics

Algebraic Topology

Scientific paper

We study topology of configuration spaces of planar linkages having one leg
of variable length. Such telescopic legs are common in modern robotics where
they are used for shock absorbtion and serve a variety of other purposes. Using
a Morse theoretic technique, we compute explicitly, in terms of the metric
data, the Betti numbers of configuration spaces of these mechanisms.

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