A kinematic analysis of the gmf a-510 robot: An introduction and application of groebner basis theory

Abstract

In this paper, we examine the application of a Groebner Basis to solve an inverse problem in mobility and control. Traditionally, such inverse problems are solved using matrix algebra techniques. This paper will introduce and solve an inverse problem using both matrix algebra and a Groebner Basis, in order to demonstrate the advantages of using a Groebner basis to: 1) classify the solutions of mobility, 2) find all solutions more efficiently, 3) and find all solutions with a fewer number of operations.