Academy of Mathematics and Systems Science, CAS
Colloquia & Seminars

Speaker:	Andreas M ller,奥地利，JOHANNES KEPLER UNIVERSITY LINZ
Inviter:
Title:	Kinematics from a Singular Perspective
Language:	Chinese
Time & Venue:	2024.02.23 15:00-16:00 南楼212
Abstract:	Many basic kinematic features of mechanisms are inherently linked to the existence of singularities. This not only concerns exceptional situations that may impair the function of a mechanism but also fundamental properties like the degree of freedom and mobility. Understanding and analyzing these characteristics necessitates understanding the geometry of the configuration space and of the kinematic map defining it. In this presentation, it is shown how a local analysis of the configuration space variety can be used to analyze singularities and mobility of linkages. To this end, the concept of kinematic tangent cone is employed. It is shown how this can be computed using a Lie group formulation of the kinematics. The presentation closes with a discussion of a few open problems.