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Homology of planar telescopic linkages
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Farber, Michael and Fromm, Viktor (2010) Homology of planar telescopic linkages. Algebraic & Geometric Topology, Vol.10 (No.2). pp. 1063-1087. doi:10.2140/agt.2010.10.1063 ISSN 1472-2747.
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Official URL: http://dx.doi.org/10.2140/agt.2010.10.1063
Abstract
We study topology of configuration spaces of planar linkages having one leg of variable length. Such telescopic legs are common in modern robotics where they are used for shock absorbtion and serve a variety of other purposes. Using a Morse theoretic technique, we compute explicitly, in terms of the metric data, the Betti numbers of configuration spaces of these mechanisms.
Item Type: | Journal Article | ||||
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Subjects: | Q Science > QA Mathematics | ||||
Divisions: | Faculty of Science, Engineering and Medicine > Science > Mathematics | ||||
Journal or Publication Title: | Algebraic & Geometric Topology | ||||
Publisher: | Mathematical Sciences Publishers | ||||
ISSN: | 1472-2747 | ||||
Official Date: | 2 May 2010 | ||||
Dates: |
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Volume: | Vol.10 | ||||
Number: | No.2 | ||||
Page Range: | pp. 1063-1087 | ||||
DOI: | 10.2140/agt.2010.10.1063 | ||||
Status: | Peer Reviewed | ||||
Publication Status: | Published | ||||
Access rights to Published version: | Restricted or Subscription Access |
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