Solving robot IK by finding zeros of a polynomial, from "IK-Geo: Unified Robot Inverse Kinematics Using Subproblem Decomposition" and "Redundancy parameterization and inverse kinematics of 7-DOF ...

Abstract: In this paper, we present an algorithm using the GPGPU machine to compute the interval solutions of isolated real zeros of multivariate polynomial functions in given ranges. To overcome the ...