Analysis of computational efficiency for the solution of inverse kinematics problem of anthropomorphic robots using Gröbner bases theory. (15th February 2021)

• Record Type: Journal Article
• Authors: Silva, Sérgio Ricardo Xavier da; Schnitman, Leizer; Filho, Vitalino Cesca
• Is Part Of: International journal of advanced robotic systems. Volume 18:Number 1(2021)
• Publication Date: 2021-02-15
• Subjects: Robotics -- anthropomorphic robots -- inverse kinematics -- computational efficiency -- Paul's method -- Gröbner bases theory; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881421989542
• Languages: English
• ISSNs: 1729-8806

Abstract

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.