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| Inverse Kinematic - SCARA Robot https://www.singular.uni-kl.de/forum/viewtopic.php?f=10&t=2066 |
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| Author: | MK [ Wed Feb 29, 2012 11:42 pm ] |
| Post subject: | Inverse Kinematic - SCARA Robot |
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) |
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