%0 Journal Article %T COMPACTIFICATION OF THE GROUP OF RIGID MOTIONS AND APPLICATIONS TO ROBOTICS %+ Université Assane SECK de Ziguinchor (UASZ) %+ Institut de Recherche Mathématique de Rennes (IRMAR) %A Djintelbe, Nestor %A Coste, Michel %< avec comité de lecture %@ 0022-4049 %J Journal of Pure and Applied Algebra %I Elsevier %V 225 %N 7 %P article n° 106604 %8 2021 %D 2021 %Z 1910.00319 %R 10.1016/j.jpaa.2020.10660 %Z Mathematics [math]/Algebraic Geometry [math.AG] %Z Engineering Sciences [physics]/AutomaticJournal articles %X We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We study in particular the degeneration of the direct kine-matic problem for some parallel robots with three degrees of freedom. %G English %2 https://univ-rennes.hal.science/hal-02301007/document %2 https://univ-rennes.hal.science/hal-02301007/file/compactarxv.pdf %L hal-02301007 %U https://univ-rennes.hal.science/hal-02301007 %~ UNIV-RENNES1 %~ IRMAR %~ UR2-HB %~ CNRS %~ INSA-RENNES %~ INSMI %~ UNAM %~ CHL %~ TDS-MACS %~ IRMAR-GS %~ UR1-HAL %~ UR1-MATH-STIC %~ AGREENIUM %~ UNIV-RENNES2 %~ TEST-UR-CSS %~ UNIV-RENNES %~ INSA-GROUPE %~ TEST-HALCNRS %~ ANR %~ UR1-MATH-NUM %~ INSTITUT-AGRO