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：本文提出并实现了一种利用基于综合Gröbner系统（CGS）的实量词消去算法求解三自由度（DOF）机器人操作臂逆运动学计算的方法。该方法能够在求解逆运动学问题之前，验证给定参数是否可行。此外，通过预先计算CGS并将参数代入CGS中的给定值，避免了重复计算Gröbner基。实验结果表明，与之前的实现相比，该方法具有优势。