The solution and implementation of the inverse kinematics computation of a three degree-of-freedom (DOF) robot manipulator using an algorithm for real quantifier elimination with Comprehensive Gr\"obner Systems (CGS) are presented. The method enables us to verify if the given parameters are feasible before solving the inverse kinematics problem. Furthermore, pre-computation of CGS and substituting parameters in the CGS with the given values avoids the repetitive computation of Gr\"obner basis. Experimental results compared with our previous implementation are shown.

翻译：给出了使用一种算法来用综合 Gr\'obner Systems(CGS) 进行实际量化除法的三度自由(DOF)机器人操控器的反动运动学计算的解决办法和实施。 这种方法使我们能够在解决反运动学问题之前核实给定参数是否可行。 此外, CGS 的预算和以给定值取代 CGS 中的参数可以避免重复计算 Gr\'obner 基数。 与我们之前的操作相比, 实验结果可以显示 。