Kinematic analysis of multibody systems
We discuss how to use constructive methods in commutative algebra to study multibody systems. The main focus is in the kinematic analysis, i.e. the analysis of the geometry of the configuration space. We show how to define and compute the mobility of the system and study various singularities of the configuration space. We also discuss implications of this analysis for numerical computations.
multibody systems mobility grobner bases