| | Publications of the SPACES team (Site not responding. Last check: 2007-10-30) |
 | | More precisely, from a partition of the parameters' space, such that in any connected component of this partition the number of triple roots is constant, we need to compute one sample point by cell, in order to have a full description, in terms of cuspidality, of the different possible configurations. |
 | | It was shown in a previous work that this ability to change posture without meeting a singularity is equivalent to the existence of a point in the workspace, such that a polynomial of degree four depending on the parameters of the manipulator and on the cartesian coordinates of the effector has a triple root. |
 | | The key idea is to precise the relations between the successive Sylvester matrix of A and B in one hand and of A and XB on the other hand, using the notion of G-remainder we introduce. |
| www-calfor.lip6.fr /~safey/Spaces/publications.html (13078 words) |