Solving the Forward Position Problem of an In-Parallel Planar Manipulator in the Gauss Plane

  title={Solving the Forward Position Problem of an In-Parallel Planar Manipulator in the Gauss Plane},
  author={Sureyya Sahin},
We study determining the posture of an in-parallel planar manipulator, which has three connectors composed of revolute, prismatic and revolute joints, from specified active joint variables. We construct an ideal in the field of complex numbers, and we introduce self inversive polynomials. We provide results for an in-parallel planar manipulator, which has a base and moving platform in right triangular shape. Using Sage computer algebra system, we compute its Groebner bases. We illustrate that… 

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