C-space Analysis using Tropical Geometry

Abstract:Configuration space~(C-space) of a mechanism is a real variety describing the set of feasible configurations that it can attain. To understand the behavior of a mechanism, it is crucial to identify and scrutinize especially the singular points of its C-space. They usually appear when the variety intersects itself, leading to different branches of motion. There exist many approaches to detect those intersections if they are transversal. However, the problem remains challenging if there are tangential, cuspidal, inter-dimensional or a combination of these intersections. This paper exploits an approach acquired from tropical geometry to analyze the neighborhood of any point on C-spaces of 1-degree-of-freedom~(\emph{dof}) mechanisms. This is done by finding the approximate rational parametrization of the curve(s) passing through the given point using Puiseux series. The proposed approach is shown to succesfully detect the transversal branchings in two foldable four bar mechanisms and a cusp in the configuration curve of the double Watt mechanism.

Robotics (cs.RO)

arXiv:2609.29355 [cs.RO]

(or arXiv:2609.29355v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.29355 arXiv-issued DOI via DataCite (pending registration)

In: Holderbaum, W., Selig, J.M. (eds) 2nd IMA Conference on Mathematics of Robotics. IMA 2020. Springer Proceedings in Advanced Robotics, vol 21. Springer, Cham

https://doi.org/10.1007/978-3-030-91352-6_10 DOI(s) linking to related resources