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Introduction to Algebraic Methods for Solving the Forward Kinematics Problem of Parallel Robots applied to High Throughput and High Accuracy

Luc Rolland 1
1 SPACES - Solving problems through algebraic computation and efficient software
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : After the recent success of parallel robots in flight simulation and material handling, engineers have introduced them in the fields of machine-tools and medicine. These machines ought to fulfill high accuracy and fast throughput requirements such as encountered in milling and surgery. Inasmuch, this poses serious challenges to engineers. In fact, they were left without satisfactory and effective methods to solve all kinematics problems. Hence, these are essential in the realization of significative computer tools to measure, model and simulate the robot behavior in order to help the designer, the user and the technician to insure that the robot shall successfully accomplish a specified task. The use of perfomant algebra tools applied to geometry in a computer algebra environment opens the way to all exact solutions to the kinematics problem by the implementation of perfomant tools such as algebraic system representation, Groebner bases, rational univariate representation RUR and real root isolation.
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https://hal.inria.fr/inria-00100548
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Submitted on : Tuesday, September 26, 2006 - 2:47:01 PM
Last modification on : Friday, February 26, 2021 - 3:28:06 PM

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Luc Rolland. Introduction to Algebraic Methods for Solving the Forward Kinematics Problem of Parallel Robots applied to High Throughput and High Accuracy. Third European-Asian Congress on Mecatronics, Laboratoire Automatique de Besançon, 2001, Besançon, France, 10 p. ⟨inria-00100548⟩

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