Mechanisms and Robot Kinematics: Algebraic Foundations

Saturday, September 16, 2006 - 9:00am - 9:50am
EE/CS 3-180
Charles Wampler (General Motors Corporation)
This talk will discuss how many of the basic questions in mechanism
science are naturally formulated as systems of polynomial equations.
These questions include both analysis problems (how does this
mechanism move?) and synthesis problems (which mechanisms will move
the way I require?). Once such a problem has been formulated as a
system polynomials, the irreducible decomposition of the solution set
of the system becomes a powerful tool for describing the answer. We
will discuss how some questions can be approached in stages by
computing irreducible decompositions of subsets of the original
equations and then intersecting solution components. Finally, we will
see how some questions about the existence of special mechanisms are
nicely formulated as fiber products of algebraic sets.
MSC Code: