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

DOI10.1016/J.AMC.2009.12.014zbMATH Open1208.65028OpenAlexW2000856017MaRDI QIDQ984262FDOQ984262

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

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

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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)

Cites Work

• HOM4PS-2.0: a software package for solving polynomial systems by the polyhedral homotopy continuation method
• Algorithm 777: HOMPACK90
• Algorithm 857
• Algorithm 801: POLSYS_PLP
• Algorithm 795
• Coefficient-parameter polynomial continuation
• Geometric Fundamentals of Robotics
• Some theorems on actions of algebraic groups
• Title not available (Why is that?)
• A homotopy for solving general polynomial systems that respects m- homogeneous structures
• Regeneration homotopies for solving systems of polynomials
• Homotopies Exploiting Newton Polytopes for Solving Sparse Polynomial Systems
• Title not available (Why is that?)
• A Polyhedral Method for Solving Sparse Polynomial Systems
• The Numerical Solution of Systems of Polynomials Arising in Engineering and Science
• Symbolic homotopy construction
• Finding all solutions to polynomial systems and other systems of equations
• Title not available (Why is that?)

Cited In (4)

• 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

Uses Software

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

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