Abstract: Using Morse theory, the configuration space of a 4-gonal (respectively 5-gonal) linkage in the plane or on the unit-sphere can be visualised as a curve in $[0, 2\pi] \times [0, 2\pi]$ (respectively as a surface in $[0, 2\pi] \times [0, 2\pi] \times [0, 2\pi]$).
Keywords: Configuration space, polygonal linkages, Morse theory
Classification (MSC2000): 53A17
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