Marc Diesse

Marc Diesse

We address the question of identifying non-smooth points in affine real algebraic varieties. A simple algebraic criterion will be formulated and proven. As an application we can answer several questions about the configuration spaces of some class of planar linkages.

Marc Diesse

We investigate the configuration space of the Delta-Manipulator, identify 24 points in the configuration space, where the Jacobian of the Constraint Equations looses rank and show, that these are not manifold points of the Real Algebraic Set, which is defined by the Constraint Equations.