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Springer Tracts in Advanced Robotics
Given a linkage belonging to any of several broad classes (both planar and spatial), we have defined parameters adapted to a stratification of its deformation space (the quotient space of its configuration space by the group of rigid motions) making that space "practically piecewise convex". This leads to great simplifications in motion planning for the linkage, because in our new parameters the loop closure constraints are exactly, not approximately, a set of linear inequalities. We illustratedoi:10.1007/978-3-540-68405-3_15 fatcat:q7ci2tkdbjhetilxbly6cxakwm