Algebraic \(\mathbb C^*\)-actions and the inverse kinematics of a general 6R manipulator

DOI10.1016/j.amc.2009.12.014zbMath1208.65028MaRDI QIDQ984262

David Eklund, Charles W. Wampler, Sandra Di Rocco, Andrew John Sommese

Publication date: 19 July 2010

Published in: Applied Mathematics and Computation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.amc.2009.12.014

zbMATH Keywords

polynomial systems; inverse kinematics; complex projective space; robot arm; intersection; quadric hypersurface; rotation angles; homotopy continuation methods; cell decompositions; 6R chain; rigid Euclidean motions; Study quadric

Mathematics Subject Classification ID

65D18: Numerical aspects of computer graphics, image analysis, and computational geometry

Related Items

Computational algebraic geometry and global analysis of regional manipulators, An algebraic study of linkages with helical joints

Uses Software

• HOM4PS
• HOMPACK90
• PHCpack
• POLSYS_PLP
• Bertini
• POLSYS_GLP

Cites Work

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• Symbolic homotopy construction
• Some theorems on actions of algebraic groups
• Regeneration homotopies for solving systems of polynomials
• Algorithm 857
• Finding all solutions to polynomial systems and other systems of equations
• Algorithm 777: HOMPACK90
• Homotopies Exploiting Newton Polytopes for Solving Sparse Polynomial Systems
• Algorithm 801: POLSYS_PLP
• Algorithm 795
• Geometric Fundamentals of Robotics
• A Polyhedral Method for Solving Sparse Polynomial Systems
• The Numerical Solution of Systems of Polynomials Arising in Engineering and Science