Ters kinematik robotik probleminin Gröbner tabanlarıyla çözülmesi

The inverse kinematics problem is one of the most important problems in robotics because the solutions provide control over the position and orientation of the robot hand. It is shown that Gröbner Basis Theory is an alternative method for solving the inverse kinematics problem. The aim of the thesis is to compare two different methods for specialization issue of parameters in the solution set of the problem. While the first method finds specializations by extra colon ideal computations, the second method computes a comprehensive Gröbner system of the problem. The advantages and disadvantages of both methods are explained with examples.