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Ap 3

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alenelijalem12
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Appendix 3

Dyalitic elimination

Let us consider the following system of equations in the two unknowns x, y:

{ a x^ y^ + b xy = c y + d
ex^y^ + fxy-f gssO
[A3.11

where the coefficients a» b» ..., g are constants with arbitrary values. The so-called dyalitic
elimination technique [Salmon 1885] consists of:

i) transforming the system [A3.1] as a linear system such that:

ax^ bx-c -d ^ 0 [A3.21


y
ex^ fx g L 1

where y^, y and 1 are termed power products',

ii) increasing the number of equations: by multiplying both equations by y» we obtain two
new equations that form, together with those of [A3.2], a homogeneous system consisting of
four equations in four unknowns (power products):

MY a 0 [A3.3]

where M is a function of x:
404 Modeling, identification and control of robots

0 ax^ bx-c -4"1


0 cx2 fx g
M = and Y = [ y3 y2 y l ]T
ax^ bx-c -Ki 0
ex^ fx g 0 J

Since one of the elements of Y is I, the system [A3.3] is compatible if, and only if, it is
singular, which implies that the determinant of M is zero. Applying this condition to the
example leads to a fourth degree equation in x. For each of the four roots, we obtain a
different matrix M. By choosing three equations out of the system [A3.3], we obtain a system
of three linear equations of type A Y'« B where Y' = [ y^ y^ y ] . Doing that, each value of
X provides a single value of y.
To summarize, the method requires four steps:
- construct the power product equation in order to minimize the number of unknowns;
- add equations to obtain a homogeneous system;
- from this system, compute a polynomial in a single unknown using the fact that the
system is necessarily singular;
- compute the other variables by solving a system of linear equations.

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