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Algebraic method

The disadvantage of this method is that it does not guarantee a solution for general structure and even if it exists, it is complicated for increasing DOFs. The second handicap is that the solution is not unique and therefore is not continuous.

However, the generalized solution can be derived for a up to 6 DOF articulated structure (often used in robotics). A solution also exists for structures with more than 6 DOF, when the features of the structure satisfy some conditions [Cra89], [MC94], [MZ94], [Chi96].

Lukas Barinka 2002-03-21