Solving Polynomial Systems for the Kinematic Analysis and Synthesis of Mechanisms and Robot Manipulators

[+] Author and Article Information
M. Raghavan

Power Systems Research Department, GM Research and Development Center, Warren, MI 48090-9055

B. Roth

Department of Mechanical Engineering, Stanford University, Stanford, CA 94305

J. Vib. Acoust 117(B), 71-79 (Jun 01, 1995) (9 pages) doi:10.1115/1.2838679 History: Received November 01, 1994; Online February 26, 2008


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.

Copyright © 1995 by The American Society of Mechanical Engineers
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