Lecture 2: Linkages, configurations, configuration space, trace; Kempe Universality Theorem, his proof, the bug; topological universality; signing your name
Page 1: Linkages, configurations, configuration space, motion, degrees of freedom, trace
You can view an applet of the square linkage example.
These are rough, personal lecture notes handwritten by Erik Demaine used during lecture. Their primary purpose is for reading/review by students of the class.