Symbolic Analysis of Robot Base Parameter Set Using Grobner-Basis | Zendy

Harushisa Kawasaki | Zendy; Toshimi Shimizu | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Symbolic Analysis of Robot Base Parameter Set Using Grobner-Basis

Author(s) -

Harushisa Kawasaki,

Toshimi Shimizu

Publication year - 1998

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1998.p0475

Subject(s) - gröbner basis , kinematics , basis (linear algebra) , base (topology) , robot , matrix (chemical analysis) , mathematics , independence (probability theory) , polynomial , symbolic computation , set (abstract data type) , gaussian elimination , ideal (ethics) , symbolic data analysis , computer science , algorithm , artificial intelligence , mathematical analysis , theoretical computer science , geometry , gaussian , programming language , philosophy , statistics , physics , materials science , epistemology , classical mechanics , quantum mechanics , composite material

We analyzed base parameters for closed-loop robots using robot symbolic analysis based on the completion procedure in polynomial ideal theory. The robot dynamics regressor is represented as a matrix of multivariate polynomials and reduced to normal form based on Buchberger's algorithm by constructing reduced Grobner basis from kinematic constrained equations. The linear independence of the reduced regressor's column vectors is studied by Gauss-Jordan elimination. Original dynamic parameters are regrouped and some eliminated, depending on results. This omits the need to solve kinematic constrained equations explicitly, deriving all base parameters systematically in theory. An example is shown using robot symbolic analysis system: ROSAM 11.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research