A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Gröbner Bases
| Autor: | Noriyuki Horigome, Akira Terui, Masahiko Mikawa |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Inverse kinematics
Computer science business.industry Computation Robot manipulator Robotics Python (programming language) Symbolic computation Algebra Algebraic equation ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION Mathematical software Computer Science::Mathematical Software Artificial intelligence business computer computer.programming_language |
| Zdroj: | Lecture Notes in Computer Science ISBN: 9783030521998 ICMS |
| DOI: | 10.1007/978-3-030-52200-1_1 |
| Popis: | The solution and a portable implementation of the inverse kinematics computation of a 3 degree-of-freedom (DOF) robot manipulator using Grobner bases are presented. The main system was written Python with computer algebra system SymPy. Grobner 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. |
| Databáze: | OpenAIRE |
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