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Kempe’s Universality Theorem for Rational Space Curves
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نویسنده
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Li Zijia ,Schicho Josef ,Schröcker Hans-Peter
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منبع
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foundations of computational mathematics - 2018 - دوره : 18 - شماره : 2 - صفحه:509 -536
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چکیده
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We prove that every bounded rational space curve of degree d and circularity c can be drawn by a linkage with $$ frac{9}{2} d-6c+1$$ revolute joints. our proof is based on two ingredients. the first one is the factorization theory of motion polynomials. the second one is the construction of a motion polynomial of minimum degree with given orbit. our proof also gives the explicit construction of the linkage.
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کلیدواژه
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Dual quaternion ,Motion polynomial ,Factorization ,Bennett flip ,Linkage ,Primary 70B05 ,Secondary 13F20 ,65D17 ,68U07
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آدرس
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Institute for Robotics and Mechatronics, Austria, Johannes Kepler University Linz, Austria, University of Innsbruck, Unit Geometry and CAD, Austria
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Authors
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