Formulation and Solution for the Direct and Inverse Kinematics Problems for Mechanisms and Mechatronics Systems

The formulation of a kinematic analysis problem often leads to a set of nonlinear equations. There are a variety of both numerical and algebraic techniques available to solve such systems of equations, and to give bounds on the number of solutions. In this chapter, the formulations of the direct and inverse kinematics of the most important mechanisms used today are reviewed, along with a variety of solution techniques. The reviewed solution methods include polynomial continuation, Grobner basis, and resultants. The relative merits of these techniques are discussed, and different problem formulations are compared.

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