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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

2021-10-31 02:36:52
Shuto Otaki, Akira Terui, Masahiko Mikawa
arXiv_RO
 
Abstract

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 Gröbner 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 Gröbner basis. Experimental results compared with our previous implementation are shown.

Abstract (translated)

URL

https://arxiv.org/abs/2111.00384

PDF

https://arxiv.org/pdf/2111.00384.pdf

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