Solving Polynomial Systems for the Kinematic Analysis and Synthesis of Mechanisms and Robot Manipulators
- 1 June 1995
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 117 (B) , 71-79
- https://doi.org/10.1115/1.2836473
Abstract
Problems in mechanisms analysis and synthesis and robotics lead naturally to systems of polynomial equations. This paper reviews the state of the art in the solution of such systems of equations. Three well-known methods for solving systems of polynomial equations, viz., Dialytic Elimination, Polynomial Continuation, and Grobner bases are reviewed. The methods are illustrated by means of simple examples. We also review important kinematic analysis and synthesis problems and their solutions using these mathematical procedures.Keywords
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