About: A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Gröbner Bases

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An Entity of Type : schema:ScholarlyArticle, within Data Space : covidontheweb.inria.fr associated with source document(s)

Attributes	Values
type	Academic Article research paper schema:ScholarlyArticle
isDefinedBy	Covid-on-the-Web dataset
has title	A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Gröbner Bases
Creator	Horigome, Noriyuki Mikawa, Masahiko Terui,
Source	PMC
abstract	The solution and a portable implementation of the inverse kinematics computation of a 3 degree-of-freedom (DOF) robot manipulator using Gröbner bases are presented. The main system was written Python with computer algebra system SymPy. Gröbner bases are computed with computer algebra system Risa/Asir, called from Python via OpenXM infrastructure for communicating mathematical software systems. For solving a system of algebraic equations, several solvers (both symbolic and numerical) are used from Python, and their performance has been compared. Experimental results with different solvers for solving a system of algebraic equations are shown.
has issue date	2020-06-06(xsd:dateTime)
bibo:doi	10.1007/978-3-030-52200-1_1
has license	no-cc
sha1sum (hex)	ee84ef4d7c3283914205963d3bef0e0880586fff
schema:url	https://doi.org/10.1007/978-3-030-52200-1_1
resource representing a document's title	A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Gröbner Bases
has PubMed Central identifier	PMC7340906
schema:publication	Mathematical Software - ICMS 2020
resource representing a document's body	covid:ee84ef4d7c3283914205963d3bef0e0880586fff#body_text
is schema:about of	named entity 'portable' named entity 'Robotics' named entity 'COMPUTATION' named entity 'PYTHON' named entity 'COMMUNICATING' named entity 'KINEMATICS' named entity 'PERFORMANCE' named entity 'SOFTWARE' named entity 'INVERSE' named entity 'numerical' named entity 'DOF' named entity 'called' named entity 'Python' named entity 'The solution' named entity 'Asir' named entity 'mathematical software' named entity 'Design' named entity 'mathematical software' named entity 'Gröbner' named entity 'Python' named entity 'inverse kinematics' named entity 'Inverse Kinematics' named entity 'algebra' named entity 'Asir' named entity 'algebra' named entity 'SymPy' named entity 'inverse kinematics' named entity 'secant method' named entity 'numerical solver' named entity 'servo motors' named entity 'arctan' named entity 'forward kinematics' named entity 'Python' named entity 'algebraic equations' named entity 'double precision' named entity 'Gröbner basis' named entity 'lexicographic ordering' named entity 'robotics' named entity 'robot manipulator' named entity 'FGLM algorithm' named entity 'computing' named entity 'DOF' named entity 'programming environment' named entity 'inverse kinematics' named entity 'triangularized' named entity 'numerical methods' named entity 'Python' named entity 'SymPy' named entity 'numerical solver' named entity 'inverse kinematics' named entity 'computational cost' named entity 'Gröbner' named entity 'numerical solver' named entity 'Robot' named entity 'SymPy' named entity 'inverse kinematics' named entity 'numerical solver' named entity 'graded reverse lexicographic' named entity 'end effector' named entity 'Gröbner' named entity 'numpy' named entity 'inverse kinematics' named entity 'robotics' named entity 'EV3' named entity 'robot' named entity 'end effector' named entity 'end effector' named entity 'Java' named entity 'inverse kinematics' named entity 'algebraic equations' named entity 'computing' named entity 'algebraic equations' named entity '1, 2, 3, 4' named entity 'sympy' named entity 'Gröbner basis' named entity 'algebraic equations' named entity 'robot manipulator' named entity 'inverse kinematics' named entity 'Gröbner' named entity 'mathematical software' named entity 'Denavit-Hartenberg'

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