arxivcs.ROcs.SCmath.AC2026-07-13
Trajectory Planning and Certification for 3-DOF Robot Manipulators Using Real Quantifier Elimination Based on Comprehensive Gröbner Systems
Yu Nakai, Akira Terui, Masahiko Mikawa
We propose an algorithm and its implementation for trajectory planning and certification for 3-DOF robot manipulators. The method uses Real Quantifier Elimination (QE) based on Comprehensive Gröbner Systems (CGS), also known as the CGS-QE method. The main advantage of the propose…