Figure 4.

Example structure in non-generic configuration. (a) Body-bar graph representation and pebble game. A change in the constraints with respect to the previous example leads to complete rigidity with the pebble game. As geometry is not considered, the algorithm does not account for the collinearity of the two indicated bonds. (b) Tree representation and kinematic sampling along the constraint compliant rotation about the hinge axis. The geometric method realizes the collinearity and correctly predicts the admissible motion. (c) Corresponding nullspace matrix. We identify the two red-colored non-zero entries describing the possible rotation of angle seven and fourteen. This explicit basis describes the sampled motion pattern.