An analytical approach based on Dixon resultant for the inverse kinematics of 6R robot manipulators with offset wrists

DOI10.1016/J.CNSNS.2023.107541OpenAlexW4386759899MaRDI QIDQ6058980

Nianyu Cai, Kaimeng Wang, Feifei Chen, Hehua Ju

Publication date: 1 November 2023

Published in: Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.cnsns.2023.107541

zbMATH Keywords

polynomial equationresultant elimination methodautomatic solutionnon-redundant equations

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

Cites Work

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• Differential elimination with Dixon resultants
• A novel inverse kinematics algorithm using the Kepler oval for continuum robots
• Comparing acceleration techniques for the Dixon and Macaulay resultants
• Inverse kinematics solutions for industrial robot manipulators with offset wrists
• Inverse kinematics in robotics using neural networks
• Conic tangency equations and Apollonius problems in biochemistry and pharmacology
• Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators
• Robust adaptive control of cooperative multiple manipulators based on the Stancu-Chlodowsky universal approximator
• Heuristics to accelerate the Dixon resultant
• Complexity of constructing Dixon resultant matrix
• Gröbner bases and systems theory

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