Open AccessSOLVING THE INVERSE KINEMATICAL PROBLEM OF A ROBOT ARM BY USING GROEBNER BASIS
Author(s) -
Alisya Masturoh,
Bambang Hendriya Guswanto,
Triyani Triyani
Publication year - 2021
Publication title -
jurnal ilmiah matematika dan pendidikan matematika (jmp)/jurnal ilmiah matematika dan pendidikan matematika
Language(s) - English
Resource type - Journals
eISSN - 2550-0422
pISSN - 2085-1456
DOI - 10.20884/1.jmp.2021.13.1.4428
Subject(s) - basis (linear algebra) , position (finance) , robot , gröbner basis , inverse , polynomial , robotic arm , inverse problem , mathematics , computer science , control theory (sociology) , artificial intelligence , mathematical analysis , geometry , control (management) , finance , economics
The inverse kinematical problem of a robot arm is a problem to find some appropriate joint configurations for a pair of position and direction of a robot hand which is represented by a polynomial equations system. The system is solved by employing Groebner basis notion. Thus, the appropriate joint configurations for a pair of position and direction of the robot hand are obtained.