Algebro-geometric techniques in kinematics of robots

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The project involves a detailed study of robot closed linkages with 6 arms. These objects consist of 6 arms forming a closed chain connected via joints that rotate or have screw motion. It is known that a random such linkages is rigid. A crucial question is to classify all such linkages that are non-rigid, as they are useful in engineering and cost effective as 6 is the optimal number for such models.Algebro-Geometric techniques have guided the study of linkages with rotational joints. The project will develop new (algebraic) techniques that deal with screw motion of the joints. The project is fundamentally interdisciplinary, as it uses modern machinery of algebra and geometry to tackle theoretical questions in robotics with potential applications in engineering.