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A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Real Quantifier Elimination based on Comprehensive Gr\"obner Systems
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The solution and implementation of the inverse kinematics computation of a three degree-of-freedom (DOF) robot manipulator using an algorithm for real quantifier elimination with Comprehensive Gr\"obner Systems (CGS) are presented. The method enables us to verify if the given parameters are feasible before solving the inverse kinematics problem. Furthermore, pre-computation of CGS and substituting parameters in the CGS with the given values avoids the repetitive computation of Gr\"obner basis. Experimental results compared with our previous implementation are shown.
Forward citations
Cited by 2 Pith papers
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Inverse Kinematics for a 6-Degree-of-Freedom Robot Manipulator Using Comprehensive Gr\"obner Systems
A Gröbner-based method solves the inverse kinematics of the myCobot 280 by exploiting pairwise-intersecting joint axes, succeeding on 99.7% of forward-kinematics-generated test poses.
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Trajectory Planning and Certification for 3-DOF Robot Manipulators Using Real Quantifier Elimination Based on Comprehensive Gr\"obner Systems
CGS-based real quantifier elimination certifies inverse-kinematics existence along line and cubic-spline trajectories for a 3-DOF manipulator and returns the feasible parameter ranges.
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