抄録
This paper presents a symbolic analysis of the base parameters for robots performing kinematic constrained task and/or having closed-chain mechanism by means of the completion procedure in polynomial ideal theory. The regresser of the robot dynamics is represented as a matrix of multivariate polynomials and reduced to the “normal form” besed on Buchbergers' algorithm by constructing reduced Grobner bases from kinematic constrained equations. The linear independence of column vectors of the reduced regresser is examined by the Gauss-Jordan elimination method. The original dynamic parameters are regrouped and some of them are eliminated based on the results. The feature of this method is that kinematic constrained equations are not needed to be solved explicitly. This method derives all the base parameters systematically in theory. Two examples are presented to illustrate the merits of the new method.
