Algebraic C*-actions and the inverse kinematics of a general 6R manipulator

被引：7

作者：

Di Rocco, Sandra ^{[2
]}

Eklund, David ^{[2
]}

Sommese, Andrew J. ^{[1
]}

Wampler, Charles W. ^{[3
]}

机构：

[1] Univ Notre Dame, Dept Math, Notre Dame, IN 46556 USA

[2] KTH, Dept Math, S-10044 Stockholm, Sweden

[3] Gen Motors Res & Dev Ctr, Warren, MI USA

来源：

APPLIED MATHEMATICS AND COMPUTATION | 2010年 / 216卷 / 09期

关键词：

Homotopy methods; Continuation; Polynomial systems; Kinematics; SOLVING POLYNOMIAL SYSTEMS; PRODUCT HOMOTOPY CODE; EQUATIONS;

D O I：

10.1016/j.amc.2009.12.014

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

Let X be a smooth quadric of dimension 2m in P-C(2m+1) and let Y, Z subset of X be subvarieties both of dimension m which intersect transversely. In this paper we give an algorithm for computing the intersection points of Y boolean AND Z based on a homotopy method. The homotopy is constructed using a C*-action on X whose fixed points are isolated, which induces Bialynicki-Birula decompositions of X into locally closed invariant subsets. As an application we present a new solution to the inverse kinematics problem of a general six-revolute serial-link manipulator. (C) 2010 Elsevier Inc. All rights reserved.

引用

页码：2512 / 2524

页数：13

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