Numerical Algebraic Geometry and Algebraic Kinematics Charles W. Wampler∗ Andrew J. Sommese† January 14, 2011 Abstract In this article, the basic constructs of algebraic kinematics (links, joints, and mechanism spaces) are introduced. This provides a common schema for many kinds of problems that are of interest in kinematic studies. Once the problems are cast in this algebraic framework, they can be attacked by tools from algebraic geometry. In particular, we review the techniques of numerical algebraic geometry, which are primarily based on homotopy methods. We include a review of the main developments of recent years and outline some of the frontiers where further research is occurring. While numerical algebraic geometry applies broadly to any system of polynomial equations, algebraic kinematics provides a body of interesting examples for testing algorithms and for inspiring new avenues of work. Contents 1 Introduction 4 2 Notation 5 I Fundamentals of Algebraic Kinematics 6 3 Some Motivating Examples 6 3.1 Serial-LinkRobots ............................... ..... 6 3.1.1 Planar3Rrobot ................................. 6 3.1.2 Spatial6Rrobot ................................ 11 3.2 Four-BarLinkages ................................ 13 3.3 PlatformRobots .................................. 18 ∗General Motors Research and Development, Mail Code 480-106-359, 30500 Mound Road, Warren, MI 48090- 9055, U.S.A. Email:
[email protected] URL: www.nd.edu/˜cwample1. This material is based upon work supported by the National Science Foundation under Grant DMS-0712910 and by General Motors Research and Development. †Department of Mathematics, University of Notre Dame, Notre Dame, IN 46556-4618, U.S.A. Email:
[email protected] URL: www.nd.edu/˜sommese. This material is based upon work supported by the National Science Foundation under Grant DMS-0712910 and the Duncan Chair of the University of Notre Dame.