OpenSYMORO: An open-source software package for symbolic modelling of robots

Author

Khalil, Waleed ; Vijayalingam, Aravindkumar ; Khomutenko, Bogdan ; Mukhanov, Izzatbek ; Lemoine, Philippe ; Ecorchard, Gael

Author_Institution

Ecole Centrale de Nantes, Nantes, France

fYear

2014

fDate

8-11 July 2014

Firstpage

1206

Lastpage

1211

Abstract

This paper presents OpenSYMORO, an open-source software package for symbolic modelling of robots. This software package is based on previous work detailed in [1]. However, the package in [1] was developed using Wolfram Mathematica and hence required Mathematica license for use. OpenSYMORO is mainly developed using the Python programming language and the source code will be publicly available. The new version provides support to model robots with flexible joints, floating base and wheeled mobile robots. This is in addition to supporting serial, tree structure and closed-loop robots. A visualisation tool to view the structure of the robot is also included.

Keywords

control engineering computing; data visualisation; mobile robots; programming languages; public domain software; software packages; OpenSYMORO software package; Python programming language; Wolfram Mathematica; closed-loop robot; flexible joint robot; floating base robot; open-source software package; robot symbolic modelling; serial robot; tree structure robot; visualisation tool; wheeled mobile robot; Computational modeling; Heuristic algorithms; Joints; Mathematical model; Mobile robots; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on

Conference_Location

Besacon

Type

conf

DOI

10.1109/AIM.2014.6878246

Filename

6878246