CGS-based real quantifier elimination certifies inverse-kinematics existence along line and cubic-spline trajectories for a 3-DOF manipulator and returns the feasible parameter ranges.
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Trajectory Planning and Certification for 3-DOF Robot Manipulators Using Real Quantifier Elimination Based on Comprehensive Gr\"obner Systems
CGS-based real quantifier elimination certifies inverse-kinematics existence along line and cubic-spline trajectories for a 3-DOF manipulator and returns the feasible parameter ranges.