Geodesic
Homology of planar telescopic linkages
Farber, Michael1 ; Fromm, Viktor1
1Department of Mathematical Sciences, University of Durham, Durham, DH13LE, United Kingdom
Algebraic and Geometric Topology, Tome 10 (2010) no. 2, pp. 1063-1087
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We study topology of configuration spaces of planar linkages having one leg of variable length. Such telescopic legs are common in modern robotics where they are used for shock absorbtion and serve a variety of other purposes. Using a Morse theoretic technique, we compute explicitly, in terms of the metric data, the Betti numbers of configuration spaces of these mechanisms.

DOI : 10.2140/agt.2010.10.1063
Keywords: linkage, configuration space, telescopic linkage, Betti number, homology

Farber, Michael  1   ; Fromm, Viktor  1

1 Department of Mathematical Sciences, University of Durham, Durham, DH13LE, United Kingdom 
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Farber, Michael; Fromm, Viktor. Homology of planar telescopic linkages. Algebraic and Geometric Topology, Tome 10 (2010) no. 2, pp. 1063-1087. doi: 10.2140/agt.2010.10.1063

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