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

DOI10.1016/J.AMC.2009.12.014MaRDI QIDQ984262zbMATH OpenOpenAlexFDO

Authors Sandra Di Rocco, David Eklund, Charles W. Wampler, Andrew J. 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

complex projective spacepolynomial systemsintersectioninverse kinematicsquadric hypersurfacerotation anglesrobot armhomotopy continuation methodscell decompositions6R chainrigid Euclidean motionsStudy quadric

Mathematics Subject Classification ID

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

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Cites work

• scientific article; zbMATH DE number 3451984 (Why is no real title available?)
• scientific article; zbMATH DE number 1860649 (Why is no real title available?)
• scientific article; zbMATH DE number 2109418 (Why is no real title available?)
• A Polyhedral Method for Solving Sparse Polynomial Systems
• A homotopy for solving general polynomial systems that respects m- homogeneous structures
• Algorithm 777: HOMPACK90
• Algorithm 795
• Algorithm 801: POLSYS_PLP
• Algorithm 857
• Coefficient-parameter polynomial continuation
• Finding all solutions to polynomial systems and other systems of equations
• Geometric Fundamentals of Robotics
• HOM4PS-2.0: a software package for solving polynomial systems by the polyhedral homotopy continuation method
• Homotopies Exploiting Newton Polytopes for Solving Sparse Polynomial Systems
• Regeneration homotopies for solving systems of polynomials
• Some theorems on actions of algebraic groups
• Symbolic homotopy construction
• The Numerical Solution of Systems of Polynomials Arising in Engineering and Science

Cited in

(5)

• Numerical algebraic geometry and algebraic kinematics
• Computational algebraic geometry and global analysis of regional manipulators
• An algebraic study of linkages with helical joints
• Sampling and homology via bottlenecks
• The numerical algebraic geometry of bottlenecks

Describes a project that uses

Uses Software

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

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