puma -- hand position and orientation of PUMA robot

Synopsis

• Usage:
puma(kk)
• Inputs:
• kk, a ring, the coefficient ring
• Outputs:
• a list, of polynomials in the system

Description

This system was solved in May 2020, using solveSystem in Macaulay2 v1.15 with an Intel(R) Core(TM) i5-5250U CPU at 1.60GHz.

There were 16 solutions found in 0.531 seconds (with a Bezout bound of 128).

Reference: "Box-Bisection for solving second-degree systems and the problem of clustering', ACM Transactions on Mathematical Software" by A. Morgan and V. Shapiro. (p. 152-167).

 i1 : puma(RR_53) 2 2 2 2 2 2 2 2 o1 = {x + x - 1, x + x - 1, x + x - 1, x + x - 1, .004731x x - 1 2 3 4 5 6 7 8 1 3 ------------------------------------------------------------------------ .3578x x - .1238x - .001637x - .9338x + x - .3571, .2238x x + 2 3 1 2 4 7 1 3 ------------------------------------------------------------------------ .7623x x + .2638x - .07745x - .6734x - .6022, x x + .3578x + 2 3 1 2 4 6 8 1 ------------------------------------------------------------------------ .004731x , - .7623x + .2238x + .3461} 2 1 2 o1 : List