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Stratifications of the Euclidean motion group with applications to robotics |
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| Authors: | Maria Alberich-Carramiñana Víctor González Federico Thomas Carme Torras |
| Affiliation: | (1) Department of Applied Mathematics I, Universitat Politècnica de Catalunya (UPC), Avda. Diagonal 647, 08028 Barcelona, Spain;(2) Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Llorens i Artigas 4-6, 08028 Barcelona, Spain |
| Abstract: | |
| Keywords: | Flag manifold Stratification Euclidean motion group Cell decomposition Singular locus Parallel manipulators |
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