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arXiv · 1904.01837

Rationality Of the Locus Of Singularities Of the General Gough-Stewart Platform

Michel Coste·Seydou Moussa
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Abstract

We prove that the set of singular configurations of a general Gough Stewart platform has a rational parametrization. We introduce a reciprocal twist mapping which, for a general orientation of the platform, realizes the cubic surface of singularities as the blowing up of a quadric surface in five points.

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Michel Coste, Seydou Moussa. 2019-04-03. Rationality Of the Locus Of Singularities Of the General Gough-Stewart Platform. https://arxiv.org/abs/1904.01837

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