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On local real algebraic geometry and applications to kinematics (1907.12134v2)
Published 28 Jul 2019 in math.AG, cs.RO, and math.AC
Abstract: We address the question of identifying non-smooth points in affine real algebraic varieties. A simple algebraic criterion will be formulated and proven. As an application we can answer several questions about the configuration spaces of some class of planar linkages.