Robotics and Automatic Geometric Theorem Proving
In this chapter we will consider two recent applications of concepts and techniques from algebraic geometry in areas of computer science. First, continuing a theme introduced in several examples in Chapter 1, we will develop a systematic approach that uses algebraic varieties to describe the space of possible configurations of mechanical linkages such as robot “arms.” We will use this approach to solve the forward and inverse kinematic problems of robotics for certain types of robots.
KeywordsIrreducible Component Hand Position Hand Orientation Joint Setting Revolute Joint
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