Am 18.02.2012 01:30, schrieb Simon:
Another option would be to use Weierstrass substitution to turn the
simplification into a algebraic procedure.
See some Mathematica code (made for a slightly different purpose) at
http://mathematica.stackexchange.com/q/434/34
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Thanks for the hint. It seems that these substitutions have different
names or no name is given at all in robotics related literature.....
Regards,
Vinzenz
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