Configuration Spaces of Linkages in Rn
Abstract
This paper studies the configuration space of all possible positions of a linkage in Rn. For example, it shows that for every compact algebraic set, there is a linkage whose configuration space is analytically isomorphic to a finite number of copies of the algebraic set. If flexible edges are allowed, any compact set given by polynomial equalities and inequalities is the configuration space of a linkage. This paper also characterizes functions which can be computed by linkages.
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