Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: On the Configuration Space of planar closed Kinematic Chains   A planar kinematic chain consists of $n$ links connected by joints. In this
work we investigate the space of configurations, described in terms of joint
angles, that guarantee that the kinematic chain is closed. We give explicit
formulas expressing the joint angles that guarantee closedness by a new set of
parameters, the diagonal lengths (the distances of the joints from the origin)
of the closed kinematic chain. Moreover, it turns out that these diagonals are
contained in a domain that possesses a simple structure. We expect that the new
insight can be applied for several issues such as motion planning for closed
kinematic chains or singularity analysis of their configuration spaces. In
order to demonstrate practicality of the new method we present numerical
examples.

24
The categories of this paper are: dg-ga
4
The categories of this paper are: cond-mat
28
The categories of this paper are: alg-geom
33
The categories of this paper are: plasm-ph
14
The categories of this paper are: math-ph
21
The categories of this paper are: adap-org
5
The categories of this paper are: gr-qc
16
The categories of this paper are: stat
31
The categories of this paper are: ao-sci
6
The categories of this paper are: astro-ph
8
The categories of this paper are: hep-ex
9
The categories of this paper are: nlin
27
The categories of this paper are: comp-gas
12
The categories of this paper are: nucl-th
22
The categories of this paper are: chao-dyn
35
The categories of this paper are: mtrl-th