Henry C. King
This paper characterizes which subsets of C^n can be the set of positions of n points on a linkage in the complex plane C. For example, assuming compactness they are just compact semialgebraic sets. Noncompact configuration spaces are semialgebraics sets invariant under the Euclidean group, with compact quotient.
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We prove realizability theorems for vector-valued polynomial mappings, real-algebraic sets and compact smooth manifolds by moduli spaces of planar linkages. We also establish a relation between universality theorems for moduli spaces of mechanical linkages and projective arrangements.
A linkage is a finite graph with lengths assigned to each edge. A planar realization is a map to the plane which preserves edge lengths. It can be thought of as a mechanical device formed from stiff rods and rotating joints. We look at the configuration space of all planar realizations of a linkage (following work of Kapovich-Millson). We also look at configuration spaces of cabled linkages, where some edges are flexible cables. These configuration spaces are classified up to analytic isomorphism.
Moduli spaces of planar polygonal linkages admit a cell structure which can be realized as a surgery on the permutohedron. We present a 3D visualization of the result of the surgery for all types of non-degenerate pentagonal linkages.
The configuration space of the mechanism of a planar robot is studied. We consider a robot which has $n$ arms such that each arm is of length 1+1 and has a rotational joint in the middle, and that the endpoint of the $k$-th arm is fixed to $Re^{\frac{2(k-1)π}ni}$. Generically, the configuration space is diffeomorphic to an orientable closed surface. Its genus is given by a topological way and a Morse theoretical way. The homeomorphism types of it when it is singular is also given.
This paper studies the configuration space of all possible positions of a linkage in R^n. 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.
The oriented area function $A$ is (generically) a Morse function on the space of planar configurations of a polygonal linkage. We are lucky to have an easy description of its critical points as cyclic polygons and a simple formula for the Morse index of a critical point. However, for planar polygons, the function $A$ in many cases is not a perfect Morse function. In particular, for an equilateral pentagonal linkage it has one extra local maximum (except for the global maximum) and one extra local minimum. In the present paper we consider the space of 3D configurations of a polygonal linkage. F…
We study spaces of realisations of linkages (weighted graphs) whose underlying graph is a series parallel graph. In particular, we describe an algorithm for determining whether or not such spaces are connected.
The geometric, topological, and symplectic properties of moduli spaces (spaces of configurations modulo rotations and translations) of polygonal linkages have been studied by Kapovich, Millson, and Kamiyama, et. al. One can form a polygonal linkage by taking two free linkages and identifying initial and terminal vertices. This can be generalized so that one takes three free linkages and identifies initial and terminal vertices. Then one obtains a linkage which contains multiple polygons, any two of which have shared edges. The geometric and topological properties of moduli spaces of these mult…
We give a proof of a Conjecture of Walker which states that one can recover the lengths of the bars of a circular linkage from the cohomology ring of the configuration space. For a large class of length vectors, this has been shown by Farber, Hausmann and Schuetz. In the remaining cases, we use Morse theory and the fundamental group to describe a subring of the cohomology invariant under graded ring isomorphism. From this subring the conjecture can be derived by applying a result of Gubeladze on the isomorphism problem of monoidal rings.
We construct a completed version C(Gamma) of the configuration space of a linkage Gamma in R^3 which takes into account the ways one link can touch another. We also describe a simplified version of C(Gamma) which is a blow-up of the space of immersions of Gamma in R^3 A number of simple detailed examples are given.
We study the topology of moduli spaces of closed linkages in \R^d depending on a length vector \ell\in \R^n. In particular, we use equivariant Morse theory to obtain information on the homology groups of these spaces, which works best for odd d. In the case d=5 we calculate the Poincare polynomial in terms of combinatorial information encoded in the length vector.
We consider the moduli spaces $\mathcal{M}_d(\ell)$ of a closed linkage with n links and prescribed lengths in d-dimensional Euclidean space. For d>3 these spaces are no longer manifolds generically, but they have the structure of a pseudomanifold. We use intersection homology to assign a ring to these spaces that can be used to distinguish the homeomorphism type of the moduli spaces for a large class of length vectors in the case of d even. This result is a high-dimensional analogue of the Walker conjecture which was proven by Farber, Hausmann and the author.
We study configuration spaces of linkages whose underlying graph are polygons with diagonal constrains, or more general, partial two-trees. We show that (with an appropriate definition) the oriented area is a Bott-Morse function on the configuration space. Its critical points are described and Bott-Morse indices are computed. This paper is a generalization of analogous results for polygonal linkages (obtained earlier by G. Khimshiashvili, G. Panina, and A. Zhukova).
Squared Distance Function on the Configuration Space of a planar Spider with Applications to Hooke Energy and Voronoi Distance
本文针对平面蜘蛛机构构型空间尚未完全明晰的问题，利用平方距离函数的Morse理论开展研究，明确其一般为Morse-Bott函数，推导相关临界流形与指标公式，并将结果应用于胡克能量与Voronoi距离研究。
A mechanical linkage is a mechanism made of rigid rods linked together by flexible joints, in which some vertices are fixed and others may move. The partial configuration space of a linkage is the set of all the possible positions of a subset of the vertices. We characterize the possible partial configuration spaces of linkages in the Minkowski plane. We also give a proof of a differential universality theorem in the Minkowski plane: for any manifold M which is the interior of a compact manifold with boundary, there is a linkage which has a configuration space diffeomorphic to the disjoint uni…
A mechanical linkage is a mechanism made of rigid rods linked together by flexible joints, in which some vertices are fixed and others may move. The partial configuration space of a linkage is the set of all the possible positions of a subset of the vertices. We characterize the possible partial configuration spaces of linkages in the (Lorentz-)Minkowski plane, in the hyperbolic plane and in the sphere. We also give a proof of a differential universality theorem in the Minkowski plane and in the hyperbolic plane: for any compact manifold M, there is a linkage whose configuration space is diffe…
J.P. Levine showed that the Conway polynomial of a link is a product of two factors: one is the Conway polynomial of a knot which is obtained from the link by banding together the components; and the other is determined by the $\barμ$-invariants of a string link with the link as its closure. We give another description of the latter factor: the determinant of a matrix whose entries are linking pairings in the infinite cyclic covering space of the knot complement, which take values in the quotient field of ${\Bbb Z}[t,t^{-1}]$. In addition, we give a relation between the Taylor expansion of a l…
We derive a minimal generating set of planar moves for diagrams of surfaces embedded in the four-space. These diagrams appear as the bonded classical unlink diagrams.
We determine the condition on a given lens space having a realization as a closure of homology cobordism over a planar surface with a given number of boundary components. As a corollary, we see that every lens space is represented as a closure of homology cobordism over a planar surface with three boundary components. In the proof of this corollary, we use Chebotarev density theorem.
Lebesgue curve is a space-filling curve that fills the unit square through linear interpolation. In this study, we generalise Lebesgue's construction to generate space-filling curves from any given planar substitution satisfying a mild condition. The generated space-filling curves for some known substitutions are elucidated. Some of those substitutions further induce relatively dense fractal-like sets in the plane, whenever some additional assumptions are met.
We prove that real projective space RP^{n-3} is homeomorphic to the space of all isometry classes of n-gons in the plane with one side of length n-2 and all other sides of length 1. This makes the topological complexity of real projective space more relevant to robotics.
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