Compactification of the group of rigid motions and applications to robotics
We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We study in particular the degeneration of the direct kine-matic problem for some parallel robots with three degrees of freedom.
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