Post new topic Reply to topic  [ 1 post ] 
Author Message
 Post subject: Inverse Kinematic - SCARA Robot
PostPosted: 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*x-4*a(1)*x^3-4*a(1)*x*y^2)*c(1)+(a(1)^4-2*a(1)^2*a(2)^2+2*a(1)^2*x^2-2*a(1)^2*y^2+a(2)^4-2*a(2)^2*x^2-2*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)^2-a(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)^2-a(2)^2+x^2-y^2)


Report this post
Top
  
Reply with quote  
Display posts from previous:  Sort by  
Post new topic Reply to topic  [ 1 post ] 

You can post new topics in this forum
You can reply to topics in this forum
You cannot edit your posts in this forum
You cannot delete your posts in this forum
You cannot post attachments in this forum

It is currently Thu Jun 21, 2018 1:57 pm
cron
Powered by phpBB © 2000, 2002, 2005, 2007 phpBB Group