Articulated arm and special multi-flags (corrected version)

TL;DR

This paper models an articulated arm using special multi-flag distributions, providing a kinematic illustration of these distributions in the context of a series of connected segments in higher-dimensional space.

Contribution

It introduces a kinematic model of an articulated arm in angular coordinates and constructs the associated special multi-flag distribution, linking geometry with robotic kinematics.

Findings

Defined the kinematic model of an articulated arm in R^{k+1}

Constructed the associated special multi-flag distribution

Provided a geometric interpretation of the distributions

Abstract

In this paper we give a kinematical illustration of some distributions called special multi-flags distributions. Precisely we define the kinematic model in angular coordinates of an articulated arm constituted of a series of (n + 1) segments in Rk+1 and construct the special multi-flag distribution associated to this model.