Abstract
Transversality is a mathematical concept, widely used in singularity theory, which generalises the idea of regularity of a function. One of its uses is in providing a method for certifying that a property of a given set of functions or mappings is generic, which is to say that it holds for almost all members of that set. Its application in kinematics is illustrated via a prototype for showing that in a given class of parallel mechanisms, for almost all choices of design parameter the configuration space is non-singular and hence a manifold.
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Vahid Amirinezhad, S., Donelan, P., Müller, A. (2019). Transversality and Its Applications to Kinematics. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_26
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DOI: https://doi.org/10.1007/978-3-319-93188-3_26
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