A Classification of Configuration Spaces of Planar Robot Arms with Application to a Continuous Inverse Kinematics Problem

Subhrajit Bhattacharya, Mihail Pivtoraiko

Using results on the topology of moduli space of polygons [Jaggi, 92; Kapovich and Millson, 94], it can be shown that for a planar robot arm with $n$ segments there are some values…