  A linkage is a finite graph with lengths assigned to each edge. A planar
realization is a map to the plane which preserves edge lengths. It can be
thought of as a mechanical device formed from stiff rods and rotating joints.
We look at the configuration space of all planar realizations of a linkage
(following work of Kapovich-Millson). We also look at configuration spaces of
cabled linkages, where some edges are flexible cables. These configuration
spaces are classified up to analytic isomorphism.
