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Algebraic C*-actions and the inverse kinematics of a general 6R manipulator
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Mathematics (Div.).ORCID iD: 0000-0002-7186-1524
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Mathematics (Div.).
2010 (English)In: Applied Mathematics and Computation, ISSN 0096-3003, E-ISSN 1873-5649, Vol. 216, no 9, 2512-2524 p.Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
2010. Vol. 216, no 9, 2512-2524 p.
Keyword [en]
Homotopy methods, Continuation, Polynomial systems, Kinematics
National Category
Computational Mathematics
URN: urn:nbn:se:kth:diva-27841DOI: 10.1016/j.amc.2009.12.014ISI: 000278152600003ScopusID: 2-s2.0-77953128241OAI: diva2:386115
Knut and Alice Wallenberg Foundation
QC 20110112Available from: 2011-01-12 Created: 2011-01-03 Last updated: 2011-01-12Bibliographically approved

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Di Rocco, SandraEklund, David
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