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Título

Stratifications of the Euclidean motion group with applications to robotics

AutorAlberich-Carramiñana, Maria ; González-Alonso, Víctor; Thomas, Federico; Torras, Carme
Palabras claveFlag manifold
Stratification
Euclidean motion group
Cell decomposition
Singular locus
Fecha de publicación2009
EditorSpringer
CitaciónGeometriae Dedicata 141(1): 19-32 (2009)
ResumenIn this paper we derive stratifications of the Euclidean motion group, which provide a complete description of the singular locus in the configuration space of a family of parallel manipulators, and we study the adjacency between the strata. We prove that classically known cell decompositions of the flag manifold restricted to the open subset parameterizing the affine real flags are still stratifications, and we introduce a refinement of the classical Ehresmann-Bruhat order that characterizes the adjacency between all the different strata. Then we show how, via a four-fold covering morphism, the stratifications of the Euclidean motion group are induced.
Versión del editorhttp://dx.doi.org/10.1007/s10711-008-9341-2
URIhttp://hdl.handle.net/10261/30501
DOI10.1007/s10711-008-9341-2
ISSN0046-5755
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