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We study determining the posture of an in-parallel planar manipulator, whichhas three connectors composed of revolute, prismatic and revolute joints, fromspecified active joint variables. We construct an ideal in the field of complexnumbers, and we introduce self inversive polynomials. We provide results for anin-parallel planar manipulator, which has a base and moving platform in righttriangular shape. Using Sage computer algebra system, we compute its Groebnerbases. We illustrate that the single variable polynomials obtained from theGroebner bases are self reciprocal.

Solving the Forward Position Problem of an In-Parallel Planar Manipulator in the Gauss Plane