Title :
Robotica: a Mathematica package for robot analysis
Author :
Nethery, John F. ; Spong, Mark W.
Author_Institution :
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
fDate :
3/1/1994 12:00:00 AM
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;
Journal_Title :
Robotics & Automation Magazine, IEEE
