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math.AG2019
Compactification of the group of rigid motions and applications to robotics
Nestor Djintelbe, Michel Coste
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 consider…
math.AG2019
Rationality Of the Locus Of Singularities Of the General Gough-Stewart Platform
Michel Coste, Seydou Moussa
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 or…