An efficient algorithm for distinct inversions and isomorphism detection in kinematic chains

Abstract

In this paper a new algorithm using adjacency matrices for determining the possible distinct inversions from a kinematic chain is presented, a unique numerical value is obtained for each distinct link of a chain known as link identification number (LIN) and the method is extended by using these inversions for isomorphism detection among a given pair of kinematic chains and the sum of all the LIN values for each distinct chain is also a unique numerical value known as chain identification number (CIN). Several test examples are used to show the worth of this method.