Work

Robots, computer algebra and eight connected components

Year: 2020

Type: conference-paper

Abstract: Answering connectivity queries in semi-algebraic sets is a longstanding and challenging computational issue with applications in robotics, in particular for the analysis of kinematic singularities. One task there is to compute the number of connected components of the complementary of the singularities of the kinematic map. Another task is to design a continuous path joining two given points lying in the same connected component of such a set. In this paper, we push forward the current capabilities of computer algebra to obtain computer-aided proofs of the analysis of the kinematic singularities of various robots used in industry.

Source: International Symposium on Symbolic and Algebraic Computation

DOI: 10.1145/3373207.3404048

Authors: Jose Capco, Mohab Safey El Din, Josef Schicho

Institutions: Universität Innsbruck, Sorbonne Université, Johannes Kepler University of Linz

Language: English

Topic: Polynomial and algebraic computation

Subfield: Computational Theory and Mathematics

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funders: Agence Nationale de la Recherche, Austrian Science Fund, Agence Nationale pour le Développement de la Recherche Universitaire, Horizon 2020