Abstract
This paper presents an overview of the current state-of-the-art in solving the sets of nonlinear equations which arise in robot kinematics. It reviews some recent results and the history and fundamental concepts of the most widely used computational methods. The paper deals mainly with equations with numerical coefficients, since for such equations methods have been developed which, in principle, will allow for the determination of all solutions.
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Roth, B. (1994). Computational Advances in Robot Kinematics. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_1
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DOI: https://doi.org/10.1007/978-94-015-8348-0_1
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