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A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Gröbner Bases

  • 2020
  • OriginalPaper
  • Chapter
Published in:
Authors
Noriyuki Horigome

Noriyuki Horigome

  • University of Tsukuba, Tsukuba, Japan
  • Internet Initiative Japan Inc., Tokyo, Japan
Akira Terui Corresponding author

Corresponding author Akira Terui

  • University of Tsukuba, Tsukuba, Japan
Corresponding author terui@math.tsukuba.ac.jp
Masahiko Mikawa

Masahiko Mikawa

  • University of Tsukuba, Tsukuba, Japan
Published in
Mathematical Software – ICMS 2020
Publisher
Springer International Publishing

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Abstract

The solution and a portable implementation of the inverse kinematics computation of a 3 degree-of-freedom (DOF) robot manipulator using Gröbner bases are presented. The main system was written Python with computer algebra system SymPy. Gröbner bases are computed with computer algebra system Risa/Asir, called from Python via OpenXM infrastructure for communicating mathematical software systems. For solving a system of algebraic equations, several solvers (both symbolic and numerical) are used from Python, and their performance has been compared. Experimental results with different solvers for solving a system of algebraic equations are shown.

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next chapter Curtains in CAD: Why Are They a Problem and How Do We Fix Them?
Title
A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Gröbner Bases
Authors
Noriyuki Horigome
Akira Terui
Masahiko Mikawa
Copyright Year
2020
Book
Mathematical Software – ICMS 2020

Print ISBN: 978-3-030-52199-8

Electronic ISBN: 978-3-030-52200-1

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-3-030-52200-1_1
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