The decoupled leading terms elimination algorithm and its application in inverse kinematic analysis of 5R robot

摘要

In order to solve the nonlinear multivariate polynomial equations, the decoupled leading terms elimination algorithm is introduced in this paper. This algorithm synthesizes the strong points of Grobner bases, Wu elimination and linear elimination, and it can be used for determining types and existing conditions of solutions for nonlinear multivariate polynomial set. At last, the validity and feasibility of the elimination approach proposed in this paper is demonstrated in inverse kinematic analysis of 5R robot.