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

Video in TIB AV-Portal: A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Gröbner Bases

Formal Metadata

Title
A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Gröbner Bases
Title of Series
Author
License
CC Attribution 3.0 Germany:
You are free to use, adapt and copy, distribute and transmit the work or content in adapted or unchanged form for any legal purpose as long as the work is attributed to the author in the manner specified by the author or licensor.
Identifiers
Publisher
Release Date
2020
Language
English
Production Year
2020
Production Place
Tsukuba, Japan

Content Metadata

Subject Area
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.
Keywords Computer algebra Robotics Inverse kinematics Gröbner bases
Feedback

Timings

  355 ms - page object

Version

AV-Portal 3.21.3 (19e43a18c8aa08bcbdf3e35b975c18acb737c630)
hidden