Algebraic and numeric techniques in modeling and robotics

摘要

Numerical continutation methods for solving problems arising in kinematics. Technical Report GMR-6372, Mathematics Department, General Motors Research Laboratories, 1988. [WM91] C. Wampler and A.P. Morgan. Solving the 6r inverse position problem using a generic-case solution methodology. Mechanisms and Machine Theory, 26(1):91--106, 1991. [Woo89] C. Woodward. Ray tracing parametric surfaces by subdivision in viewing plane. In W. Strasser and H.P. Seidel, editors, Theory and practice of Geometric Modeling, pages 273--290. Springer--Verlag, 1989. 235 [SR85] J.G. Semple and L. Roth. Introduction to Algebraic Geometry. Claredon Press, Oxford, 1985. [SSN86] H.W. Stone, A.C. Sanderson, and C.P. Neuman. Arm signature identification. In IEEE Conference on Robotics and Automation, pages 41--48, 1986. [Sti91] E.W. Stickel. Separating eigenvalues using the matrix sign function. Lin. Alg. Appl., 148:75--88, 1991. [S