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MK

Post subject: Inverse Kinematic  SCARA Robot Posted: Wed Feb 29, 2012 11:42 pm 


Hello, I'm still working on the inverse kinematic problem. For a scara robot I got the equation system (i.e. groebner bases) below. Does SINGULAR provide functions in order to solve g1 ... g4 symbolically (e.g. (c(1) = ... ) ? Is there any chance for an example? Many thanks, MK
g1: (4*a(1)^2*x^2+4*a(1)^2*y^2)*c(1)^2+(4*a(1)^3*x+4*a(1)*a(2)^2*x4*a(1)*x^34*a(1)*x*y^2)*c(1)+(a(1)^42*a(1)^2*a(2)^2+2*a(1)^2*x^22*a(1)^2*y^2+a(2)^42*a(2)^2*x^22*a(2)^2*y^2+x^4+2*x^2*y^2+y^4), g2: (2*a(1)*y)*s(1)+(2*a(1)*x)*c(1)+(a(1)^2a(2)^2+x^2+y^2), g3: (a(2))*c(12)+(a(1))*c(1)+(x), g4: (2*a(2)*y)*s(12)+(2*a(1)*x)*c(1)+(a(1)^2a(2)^2+x^2y^2)


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