Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Homotopy Continuation

  title={Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Homotopy Continuation},
  author={Eric Lee and Constantinos Mavroidis},
In this paper, the geometric design problem of serial-link robot manipulators with th revolute (R) joints is solved using a polynomial homotopy continuation method. T spatial positions and orientations are defined and the dimensions of the geometric p eters of the 3-R manipulator are computed so that the manipulator will be able to p its end-effector at these three pre-specified locations. Denavit and Hartenberg param and 434 homogeneous matrices are used to formulate the problem and obtain eig… CONTINUE READING
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