Title

Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators

Abstract

A general computer program for deriving the dynamic equations of motion for robotic manipulators using the symbolic language MACSYMA has been developed. The program, developed based on the Lagrange formalism, is applicable to manipulators of any number of degrees of freedom. Examples are given to illustrate how to use this program for dynamic equation generation. Advantages of expanding the dynamic equations into symbolic form are presented. Techniques for improving efficiency of equation generation, overcoming computer memory limitation, and approximating manipulator dynamics are discussed.

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Equations of Motion; Manipulators; Degrees of Freedom; Computers; Computer Software; Manipulator Dynamics

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1986 American Society of Mechanical Engineers (ASME), All rights reserved.


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