Trajectory Planning and Certification for 3-DOF Robot Manipulators Using Real Quantifier Elimination Based on Comprehensive Gr\"obner Systems
arXiv:2607.11657v1 Announce Type: new Abstract: We propose an algorithm and its implementation for trajectory planning and certification for 3-DOF robot manipulators. The method uses Real Quantifier Elimination (QE) based on Comprehensive Gr\"obner Systems (CGS), also known as the CGS-QE method. The main advantage of the proposed method is its efficiency in trajectory planning and solution certification. This efficiency comes from the effective use of the CGS. First, for trajectory planning, we
Overview
arXiv:2607.11657v1 Announce Type: new Abstract: We propose an algorithm and its implementation for trajectory planning and certification for 3-DOF robot manipulators. The method uses Real Quantifier Elimination (QE) based on Comprehensive Gr\"obner Systems (CGS), also known as the CGS-QE method. The main advantage of the proposed method is its efficiency in trajectory planning and solution certification. This efficiency comes from the effective use of the CGS. First, for trajectory planning, we solve the inverse kinematics problem at each point along the trajectory via Gr\"obner basis computation. This usually requires recalculating the Gr\"obner basis at every point, which is time-consuming. We avoid this by computing the CGS for a parametric system. Here, the end-effector coordinates are parameters. This approach streamlines the algorithm. Second, for solution certification, the CGS-QE method certifies that an inverse kinematics solution exists at any point along the end-effector's trajectory. Our method also certifies solutions for trajectories composed of line segments and cubic natural splines. The algorithm is implemented within the computer algebra system Risa/Asir.
Source
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2607.11657