Recursive Polynomial Remainder Sequence and its Subresultants

We introduce concepts of "recursive polynomial remainder sequence (PRS)" and "recursive subresultant," along with investigation of their properties. A recursive PRS is defined as, if there exists the GCD (greatest common divisor) of initial polynomials, a sequence of PRSs calculated "recursively" for the GCD and its derivative until a constant is derived, and recursive subresultants are defined by determinants representing the coefficients in recursive PRS as functions of coefficients of initial polynomials. We give three different constructions of subresultant matrices for recursive subresultants; while the first one is built-up just with previously defined matrices thus the size of the matrix increases fast as the recursion deepens, the last one reduces the size of the matrix drastically by the Gaussian elimination on the second one which has a "nested" expression, i.e. a Sylvester matrix whose elements are themselves determinants.Comment: 30 pages. Preliminary versions of this paper have been presented at CASC 2003 (arXiv:0806.0478 [math.AC]) and CASC 2005 (arXiv:0806.0488 [math.AC]

Symbolic-numeric algorithms for univariate polynomials

Thesis (Ph. D. in Science)--University of Tsukuba, (B), no. 2485, 2010.3.25 Includes bibliographical referencesNote to the re-typeset version: This is re-typeset version of the original dissertation. While I have maintained the original contents without changing any words and/or formulas in the main body, I have added the following information: 1. Copyright notice of corresponding articles in each chapter; 2. Digital Object Identifiers (DOI) or URLs of references as many as possible.Please note that the number of pages is slightly increased in the present edition from that of the original edition, possibly by changes of page style parameters.200

A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Real Quantifier Elimination based on Comprehensive Gr\"obner Systems

The solution and implementation of the inverse kinematics computation of a three degree-of-freedom (DOF) robot manipulator using an algorithm for real quantifier elimination with Comprehensive Gr\"obner Systems (CGS) are presented. The method enables us to verify if the given parameters are feasible before solving the inverse kinematics problem. Furthermore, pre-computation of CGS and substituting parameters in the CGS with the given values avoids the repetitive computation of Gr\"obner basis. Experimental results compared with our previous implementation are shown.Comment: 20 page

Exact Algorithms for Computing Generalized Eigenspaces of Matrices via Annihilating Polynomials

An effective exact method is proposed for computing generalized eigenspaces of a matrix of integers or rational numbers. Keys of our approach are the use of minimal annihilating polynomials and the concept of the Jourdan-Krylov basis. A new method, called Jordan-Krylov elimination, is introduced to design an algorithm for computing Jordan-Krylov basis. The resulting algorithm outputs generalized eigenspaces as a form of Jordan chains. Notably, in the output, components of generalized eigenvectors are expressed as polynomials in the associated eigenvalue as a variable

Inverse kinematics and path planning of manipulator using real quantifier elimination based on Comprehensive Gr\"obner Systems

Methods for inverse kinematics computation and path planning of a three degree-of-freedom (DOF) manipulator using the algorithm for quantifier elimination based on Comprehensive Gr\"obner Systems (CGS), called CGS-QE method, are proposed. The first method for solving the inverse kinematics problem employs counting the real roots of a system of polynomial equations to verify the solution's existence. In the second method for trajectory planning of the manipulator, the use of CGS guarantees the existence of an inverse kinematics solution. Moreover, it makes the algorithm more efficient by preventing repeated computation of Gr\"obner basis. In the third method for path planning of the manipulator, for a path of the motion given as a function of a parameter, the CGS-QE method verifies the whole path's feasibility. Computational examples and an experiment are provided to illustrate the effectiveness of the proposed methods.Comment: 26 pages. arXiv admin note: text overlap with arXiv:2111.0038