Analysis of computational efficiency for the solution of inverse kinematics problem of anthropomorphic robots using Gröbner bases theory

This article presents an analysis of computational efficiency to solve the inverse kinematics problem of anthropomorphic robots. Two approaches are investigated: the first approach uses Paul’s method applied to the matrix obtained by the Denavit–Hartenberg algorithm and the second approach uses Gröb...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2021-01, Vol.18 (1)
Main Authors: Silva, Sérgio Ricardo Xavier da, Schnitman, Leizer, Filho, Vitalino Cesca
Format: Article
Language:English
Subjects:
Algorithms
Anthropomorphism
Computational efficiency
Computing time
Inverse kinematics
Kinematics
Robots
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Summary:This article presents an analysis of computational efficiency to solve the inverse kinematics problem of anthropomorphic robots. Two approaches are investigated: the first approach uses Paul’s method applied to the matrix obtained by the Denavit–Hartenberg algorithm and the second approach uses Gröbner bases theory. With each approach, the problem of inverse kinematics for an anthropomorphic robot will be solved. When comparing each method, this article will demonstrate that the method using Gröbner bases theory is more computationally efficient.
ISSN:1729-8806
1729-8814
DOI:10.1177/1729881421989542