Rationality Of the Locus Of Singularities Of the General Gough-Stewart Platform
classification
🧮 math.AG
keywords
generalplatformsingularitiessurfaceblowingconfigurationscubicfive
read the original 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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