Application of Algebraic Geometry to Kinematics

Friday, June 1, 2007 - 9:00am - 9:50am
EE/CS 3-180
Manfred Husty (Leopold-Franzens Universität Innsbruck)
Algebraic methods in connection with classical multidimensional geometry have
proven to be very efficient in the computation of direct and inverse kinematics
of mechanisms as well as the explanation of strange, pathological behaviour of
mechanical systems. Generally one can say that every planar, spherical or
spatial mechanism having revolute or prismatic joints can be described by
systems of algebraic equations. In this talk we give an overview of the results
achieved within the last years using algebraic geometric methods, geometric
preprocessing and numerical analysis. We provide the mathematical and
geometrical background, like Study's parametrization of the Euclidean motion
group, the ideals belonging to mechanism constraints The methods are explained
with different examples from mechanism analysis and synthesis.
MSC Code: