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In recent work, we introduced the notion of a construction tree of simplices for a linkage L under distance constraints, and showed that the deformation space DSpace(L) of such an L (i.e., its configuration space CSpace(L) modulo rigid motions of ambient space respecting all system specifications) carries geometrically-defined simplex-based parameters that endow it with a ldquopractically piecewise-convexrdquo...
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