Laureano G. Vega, Dept. Mathematics, Unican, Spain (gvega@matsun1.unican.es)

Title:  Mixing Symbolic and Numeric Strategies to Solve the
        Inverse Kinematics Problem in Robotics.


Abstract:   The resolution of the Inverse Kinematics Problem in Robotics 
            is usually reduced to the computation of the real solutions for 
            the polynomial system of equations relating the coordinates of 
            the point to be reached and the internal parameters of the robot.
            The main objective of this talk is the showing that the mixture of
            numerical techniques (eigenvalue computations, for example) and
            symbolic methods (Grobner Basis, for example) leads to a very
            efficient solution of this problem for some particular robots.