Robotics and Automatic Geometric Theorem Proving

  • David Cox
  • John Little
  • Donal O’Shea
Part of the Undergraduate Texts in Mathematics book series (UTM)


In this chapter we will consider two recent applications of concepts and techniques from algebraic geometry in areas of computer science. First, continuing a theme introduced in several examples in Chapter 1, we will develop a systematic approach that uses algebraic varieties to describe the space of possible configurations of mechanical linkages such as robot “arms.” We will use this approach to solve the forward and inverse kinematic problems of robotics for certain types of robots.


Irreducible Component Hand Position Hand Orientation Computer Algebra System Joint Setting 
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Copyright information

© Springer Science+Business Media New York 1997

Authors and Affiliations

  • David Cox
    • 1
  • John Little
    • 2
  • Donal O’Shea
    • 3
  1. 1.Department of Mathematics and Computer ScienceAmherst CollegeAmherstUSA
  2. 2.Department of MathematicsCollege of the Holy CrossWorcesterUSA
  3. 3.Department of Mathematics, Statistics, and Computer ScienceMount Holyoke CollegeSouth HadleyUSA

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