Name
Abstract | ||
|---|---|---|
Let X be a smooth quadric of dimension 2m in PC2m+1 and let Y,Z⊂X be subvarieties both of dimension m which intersect transversely. In this paper we give an algorithm for computing the intersection points of Y∩Z based on a homotopy method. The homotopy is constructed using a C∗-action on X whose fixed points are isolated, which induces Bialynicki-Birula decompositions of X into locally closed invariant subsets. As an application we present a new solution to the inverse kinematics problem of a general six-revolute serial-link manipulator. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1016/j.amc.2009.12.014 | Applied Mathematics and Computation |
Keywords | Field | DocType |
Homotopy methods,Continuation,Polynomial systems,Kinematics | Mathematical optimization,Algebraic number,Inverse kinematics,Polynomial,Mathematical analysis,Algebraic equation,Invariant (mathematics),Fixed point,Homotopy,Mathematics,Quadric | Journal |
Volume | Issue | ISSN |
216 | 9 | 0096-3003 |
Citations | PageRank | References |
3 | 0.65 | 8 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sandra Di Rocco | 1 | 15 | 3.68 |
| David Eklund | 2 | 11 | 2.94 |
| Andrew J. Sommese | 3 | 412 | 39.68 |
| Charles W. Wampler | 4 | 410 | 44.13 |