Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators
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.
M. Leu and N. Hemati, "Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators," Journal of Dynamic Systems, Measurement and Control, American Society of Mechanical Engineers (ASME), Jan 1986.
The definitive version is available at https://doi.org/10.1115/1.3143765
Mechanical and Aerospace Engineering
Keywords and Phrases
Equations of Motion; Manipulators; Degrees of Freedom; Computers; Computer Software; Manipulator Dynamics
Article - Journal
© 1986 American Society of Mechanical Engineers (ASME), All rights reserved.
01 Jan 1986