Let X be a smooth projective variety over C equipped with a C*-action whose fixed points are isolated. Let Y and Z be subvarieties of complementary dimentions in X which intersect properly. In this thesis we present an algorithm for computing the points of intersection between Y and Z based on homotopy continuation and the Bialynicki-Birula decompositions of X into locally closed invariant subsets. As an application we present a new solution to the inverse kinematic problem of a general six-revolute serial-link manipulator. / QC 20101108
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:kth-9380 |
| Date | January 2008 |
| Creators | Eklund, David |
| Publisher | KTH, Matematik (Avd.), Stockholm : KTH |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Licentiate thesis, monograph, info:eu-repo/semantics/masterThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
| Relation | Trita-MAT. MA, 1401-2278 ; 08-10 |
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