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Solving the Inverse Kinematic Robotics Problem: A Comparison Study of the Denavit-Hartenberg Matrix and Groebner Basis Theory




Kendricks, Kimberly

Type of Degree



Mathematics and Statistics


The aim is to analyze two very di®erent methods for solving the inverse kinematic robotics problem. The ¯rst method, called the Engineering Approach, uses the Denavit- Hartenberg Matrix, and the second method, called the Mathematician's Approach, uses Groebner Basis Theory and MAGMA, a mathematics computer software package. With each approach, we will solve the inverse kinematics robotics problem for various robot manipulators. By comparing each method, this paper will demonstrate that Groebner Basis Theory is more advantageous, and furthermore, more bene¯cial to the ¯eld of mathematics and robotics engineering. v