Projective convexity in computational kinematic geometry

In recent years, there is an increasing interest in developing geometric algorithms for kinematic computations. The aim of this paper is to present the notion of projective convexity as a key element for a new framework for kinematic geometry, that allows for the development of more elegant and efficient algorithms for geometric computations with kinematic applications. The resulting framework, called computational kinematic geometry, is developed by combining the oriented projective geometry with the kinematic geometry of rigid body motions.