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

Uses Software

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

Cites Work

• HOM4PS-2.0: a software package for solving polynomial systems by the polyhedral homotopy continuation method
• A homotopy for solving general polynomial systems that respects m- homogeneous structures
• Coefficient-parameter polynomial continuation
• 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
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