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The key to a robust and efficient implementation of a computational geometry algorithm is an efficient algorithm for detecting degenerate predicates. We study degeneracy detection in constructing the free space of a polyhedron that rotates around a fixed axis and translates freely relative to another polyhedron. The structure of the free space is determined by the signs of univariate polynomials, called angle polynomials, whose coefficients are polynomials in the coordinates of the vertices ofdoi:10.4230/lipics.socg.2018.61 dblp:conf/compgeom/MilenkovicSB18 fatcat:5i24ikh5lfft5bdk35jncmjkle