SOLVING POLYNOMIAL SYSTEMS FOR THE KINEMATIC ANALYSIS AND SYNTHESIS OF MECHANISMS AND ROBOT MANIPULATORS

Problems in mechanisms analysis and synthesis and robotics lead natura lly to systems of polynomial equations. This paper reviews the state o f the art in the solution of such systems of equations. Three well-kno wn methods for solving systems of polynomial equations, viz., Dialytic Elimination, Polynomial Continuation and Grobner bases are reviewed. The methods are illustrated by means of simple examples. We also revie w important kinematic analysis and synthesis problems and their soluti ons using these mathematical procedures.