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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CITATION STYLE
Horigome, N., Terui, A., & Mikawa, M. (2020). A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Gröbner Bases. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 12097 LNCS, pp. 3–13). Springer. https://doi.org/10.1007/978-3-030-52200-1_1
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