Abstract

In this talk, I will discuss past research using concepts from algebraic topology and algebraic geometry in the form of invariants to define and classify the type of singularities of maps associated with inverse kinematics for spacecraft attitude control and robotic manipulation uses. The work presented here is related to the work on topological robotics by Michael Farber. Also to be discussed is the numerical issues associated with the calculation of pseudoinverses used for steering algorithms associated with singularity type of a given arrangement of a system of actuators.