Robotica: a Mathematica package for robot analysis

Author

Nethery, John F. ; Spong, Mark W.

Author_Institution

Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA

Volume

1

Issue

1

fYear

1994

fDate

3/1/1994 12:00:00 AM

Firstpage

13

Lastpage

20

Abstract

Robotica is a computer aided design package for robotic manipulators developed in the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign. It encapsulates over 30 functions into a Mathematica package allowing efficient symbolic and numeric calculation of kinematic and dynamic equations for multi-degree-of-freedom manipulators. An X-Windows front end that utilizes the interprocess communication features of Mathematica 2.1 has also been created for ease of use. This paper describes the most important features of the package and how they are used.<>

Keywords

CAD; computer aided analysis; dynamics; kinematics; software packages; Coordinated Science Laboratory; Mathematica 2.1; Mathematica package; Robotica; University of Illinois; Urbana-Champaign; X-Windows front end; computer aided design package; dynamic equations; interprocess communication features; kinematic; manipulators; mathematical package; multi-degree-of-freedom manipulators; robot analysis; Animation; Arm; Ellipsoids; Equations; Manipulator dynamics; Packaging machines; Robot kinematics; Robotics and automation; Shape; Time factors;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/100.296449

Filename

296449