export{"puma"} puma = method() puma (Ring) := kk -> ( x := symbol x; R := kk[x_1..x_8]; { x_1^2 + x_2^2 - 1, x_3^2 + x_4^2 - 1, x_5^2 + x_6^2 - 1, x_7^2 + x_8^2 - 1, 0.004731*x_1*x_3 - 0.3578*x_2*x_3 - 0.1238*x_1 - 0.001637*x_2 - 0.9338*x_4 + x_7 - 0.3571, 0.2238*x_1*x_3 + 0.7623*x_2*x_3 + 0.2638*x_1 - 0.07745*x_2 -0.6734*x_4 -0.6022, x_6*x_8 + 0.3578*x_1 + 0.004731*x_2, -0.7623*x_1 + 0.2238*x_2 + 0.3461 } ) beginDocumentation() doc /// Key puma (puma,Ring) Headline hand position and orientation of PUMA robot Usage puma(kk) Inputs kk:Ring the coefficient ring Outputs :List of polynomials in the system Description Text This system was solved in May 2020, using @TO 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). See also: http://homepages.math.uic.edu/~jan/Demo/puma.html. Example puma(RR_53) ///

Simpan