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

DOI10.1016/j.amc.2009.12.014zbMath1208.65028OpenAlexW2000856017MaRDI QIDQ984262

Charles W. Wampler, Sandra Di Rocco, David Eklund, 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 systemsinverse kinematicscomplex projective spacerobot armintersectionquadric hypersurfacerotation angleshomotopy continuation methodscell decompositions6R chainrigid Euclidean motionsStudy quadric

Mathematics Subject Classification ID

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

Related Items

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

Uses Software

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

Cites Work

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• Algorithm 777: HOMPACK90
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• Algorithm 801: POLSYS_PLP
• Algorithm 795
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