2 papers
math.AG2019
On local real algebraic geometry and applications to kinematics
Marc Diesse
We address the question of identifying non-smooth points in affine real algebraic varieties. A simple algebraic criterion will be formulated and proven. As an application we can an…
cs.RO2018
Configuration Space Singularities of The Delta Manipulator
Marc Diesse
We investigate the configuration space of the Delta-Manipulator, identify 24 points in the configuration space, where the Jacobian of the Constraint Equations looses rank and show,…