Constructive algebraic methods for the inverse kinematics problem:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
1994
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Bonn, Univ., Diss., 1994 |
| Beschreibung: | 100 S. |
Internformat
MARC
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| 100 | 1 | |a Weiß, Jürgen |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Constructive algebraic methods for the inverse kinematics problem |c vorgelegt von Jürgen Weiss |
| 264 | 1 | |c 1994 | |
| 300 | |a 100 S. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
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| 500 | |a Bonn, Univ., Diss., 1994 | ||
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Datensatz im Suchindex
| _version_ | 1807506013416325120 |
|---|---|
| adam_text |
CONTENTS
1
INTRODUCTION
5
1.1
RULE
BASED
METHODS
.
6
1.2
RESULTANT
METHODS
.
6
1.3
BUCHBERGER
ALGORITHM
.
7
1.4
FUNCTIONAL
DECOMPOSITIONS
.
8
1
5
MOTIVATION
FOR
THE
THESIS
.
9
1.6
OUTLINE
OF
THE
THESIS
.
10
I
ALGEBRAIC
METHODS
FOR
THE
INVERSE
KINEMATICS
PROBLEM
13
2
KINEMATICS
13
3
INVERSE
KINEMATICS
PROBLEM
17
4
TRIGONOMETRIC
POLYNOMIALS
AND
TRIGONOMETRIC
IDEALS
19
4
1
TRIGONOMETRIC
POLYNOMIALS
.
19
4.2
ZEROS
OF
TRIGONOMETRIC
POLYNOMIALS
.
21
4.3
TRIGONOMETRIC
IDEALS
.
22
4.4
MULTIVARIATE
TRIGONOMETRIC
POLYNOMIALS
AND
IDEALS
.
23
5
GROBNER
BASES
25
5
1
GENERAL
DEFINITIONS
.
25
5
2
ZERO-DIMENSIONAL
IDEALS
.
26
5.3
EQUATIONS
WITH
PARAMETERS
.
29
6
NAIVE
APPROACH
TO
THE
INVERSE
KINEMATICS
PROBLEM
35
6.1
SPECIAL
INVERSE
KINEMATICS
.
.
.
35
6
2
GENERAL
INVERSE
KINEMATICS
.
36
6.3
PRACTICAL
RESULTS
.
.
37
7
SERIES
CHAIN
MANIPULATORS
IN
2
DIMENSIONS
39
8
REDUCTION
OF
THE
INVERSE
KINEMATICS
PROBLEM
41
9
HOMOGENIZATION
47
9
1
GENERAL
CONSIDERATIONS
.
.
47
9.2
HOMOGENIZATION
OF
TRIGONOMETRIC
IDEALS
.
49
10
RESULTANT
METHODS
53
10
1
LINEARIZATION
.
.
54
10
2
PARAMETRIZED
MAPS
.
.
.
.
56
10.3
SURJECTIVITY
OF
A
LINEAR
MAP
.
.
58
11
INVERSE
KINEMATICS
PROBLEM
61
11
1
MANIPULATORS
OF
GENERAL
GEOMETRY
.
61
112
MANIPULATORS
OF
SPECIAL
GEOMETRY
.
.
62
113
EXAMPLES
.
63
11
4
AN
INFINITE
NUMBER
OF
SOLUTIONS
AT
INFINITY
.
64
11
5
IMPLEMENTATION
DETAILS
.
65
II
DECOMPOSITION
ALGORITHMS
67
12
HOMOGENEOUS
DECOMPOSITION
OF
UNIVARIATE
POLYNOMIALS
71
12
1
NORMALIZATION
.
71
12
2
A
STRUCTURE
THEOREM
.
73
12
3
A
GENERALIZATION
OF
CAPELLI
'
S
THEOREM
.
76
12
4
FACTORS
AND
DECOMPOSITIONS
.
79
12.5
DECOMPOSITION
ALGORITHM
.
80
12
6
IMPLEMENTATION
OF
THE
ALGORITHM
.
83
13
FUNCTIONAL
DECOMPOSITION
OF
TRIGONOMETRIC
POLYNOMIALS
85
13
1
DETERMINATION
OF
THE
HIGHEST
COEFFICIENTS
.
87
13.2
DETERMINATION
OF
THE
OTHER
COEFFICIENTS
.
88
13.3
DETERMINATION
OF
THE
LEFT
FACTOR
.
89
13
4
IMPLEMENTATION
.
.
89
14
CONCLUSIONS
AND
OUTLOOK
91
A
ADDITIONAL
FORMULAE
93 |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV009845082 |
| illustrated | Not Illustrated |
| indexdate | 2024-08-16T01:34:19Z |
| institution | BVB |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-006518669 |
| oclc_num | 50726017 |
| open_access_boolean | |
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| owner_facet | DE-91 DE-BY-TUM DE-29T DE-355 DE-BY-UBR DE-11 |
| physical | 100 S. |
| publishDate | 1994 |
| publishDateSearch | 1994 |
| publishDateSort | 1994 |
| record_format | marc |
| spelling | Weiß, Jürgen Verfasser aut Constructive algebraic methods for the inverse kinematics problem vorgelegt von Jürgen Weiss 1994 100 S. txt rdacontent n rdamedia nc rdacarrier Bonn, Univ., Diss., 1994 Inverses Problem (DE-588)4125161-1 gnd rswk-swf Kinematik (DE-588)4030664-1 gnd rswk-swf Manipulator (DE-588)4037349-6 gnd rswk-swf Konstruktive Algebra (DE-588)4195681-3 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Manipulator (DE-588)4037349-6 s Kinematik (DE-588)4030664-1 s Inverses Problem (DE-588)4125161-1 s Konstruktive Algebra (DE-588)4195681-3 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=006518669&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Weiß, Jürgen Constructive algebraic methods for the inverse kinematics problem Inverses Problem (DE-588)4125161-1 gnd Kinematik (DE-588)4030664-1 gnd Manipulator (DE-588)4037349-6 gnd Konstruktive Algebra (DE-588)4195681-3 gnd |
| subject_GND | (DE-588)4125161-1 (DE-588)4030664-1 (DE-588)4037349-6 (DE-588)4195681-3 (DE-588)4113937-9 |
| title | Constructive algebraic methods for the inverse kinematics problem |
| title_auth | Constructive algebraic methods for the inverse kinematics problem |
| title_exact_search | Constructive algebraic methods for the inverse kinematics problem |
| title_full | Constructive algebraic methods for the inverse kinematics problem vorgelegt von Jürgen Weiss |
| title_fullStr | Constructive algebraic methods for the inverse kinematics problem vorgelegt von Jürgen Weiss |
| title_full_unstemmed | Constructive algebraic methods for the inverse kinematics problem vorgelegt von Jürgen Weiss |
| title_short | Constructive algebraic methods for the inverse kinematics problem |
| title_sort | constructive algebraic methods for the inverse kinematics problem |
| topic | Inverses Problem (DE-588)4125161-1 gnd Kinematik (DE-588)4030664-1 gnd Manipulator (DE-588)4037349-6 gnd Konstruktive Algebra (DE-588)4195681-3 gnd |
| topic_facet | Inverses Problem Kinematik Manipulator Konstruktive Algebra Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=006518669&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT weißjurgen constructivealgebraicmethodsfortheinversekinematicsproblem |