A hybrid symbolic-numeric approach to exceptional sets of generically zero-dimensional systems

Exceptional sets are the sets where the dimension of the fiber of a map is larger than the generic fiber dimension, which we assume is zero. Such situations naturally arise in kinematics, for example, when designing a mechanism that moves when the generic case is rigid. In 2008, Sommese and Wampler showed that one can use fiber products to promote such sets to become irreducible components. We propose an alternative approach using rank constraints on Macaulay matrices. Symbolic computations are used to construct the proper Macaulay matrices, while numerical computations are used to solve the rank-constraint problem. Various exceptional sets are computed, including exceptional RR dyads, lines on surfaces in C3, and exceptional planar pentads.