# Some Applications of Classical Algebraic Geometry in Robotics

Filed under:
TALK

Prof. Jon Selig, London South Bank University, 13 January 2015, 1.30 p.m., room S2 416

**Some Applications of Classical Algebraic Geometry in Robotics**

Historically the development of Algebraic Geometry in the late nineteenth century was greatly influenced by problems in the theory of mechanisms and machines. In this talk I will briefly look at the Study quadric, as six dimensional variety whose point (minus a single 3-plane) correspond to rigid-body displacements. In particular I will look at some modern applications to serial robots and parallel manipulators. I will then discuss some connections between classical line geometry and screw theory. The applications here will include some recent work on the line geometry associated to the inertia matrix of a rigid body.