Published:
[Erscheinungsort nicht ermittelbar]: Centre International de Rencontres Mathématiques (CIRM), 2021
Published in:VIRTUAL RESEARCH SCHOOL - French Computer Algebra Days ; (Jan. 2021)
Extent:
1 Online-Ressource (480 MB, 01:34:25:59)
Language:
French
DOI:
10.5446/56638
Identifier:
Origination:
Footnote:
Audiovisuelles Material
Description:
Robotic design involves modeling the behavior of a robot mechanism when it moves along potential paths set by the users. In this lecture, we will first give an overview of different approaches to design a set of kinematic equations associated with a robot mechanism. In particular, these equations can be used to solve the forward and the backward kinematics problems associated with a robot mechanism or to model its singularity locus. Then we will review methods to solve those equations, and notably methods to draw with guarantees the real solutions of an under-constrained system of equations modeling the singularities of a robot