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Journal for Geometry and Graphics 16 (2012), No. 1, 047--058
Copyright Heldermann Verlag 2012

On Some Surfaces in Kinematics

Manfred Husty
Inst. Basic Sciences Engineering, Unit Geometry and CAD, University of Innsbruck, Technikerstr. 13, 6020 Innsbruck, Austria

This paper presents a collection of geometrically interesting results obtained within the last years in kinematic contexts. Special emphasis is laid on geometric objects that describe kinematic features like workspaces or singularities of robots and mechanisms.

Keywords: Kinematics, kinematic features, surfaces, kinematic mapping, workspace, singularity.

MSC: 53A17; 51N05

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