Title :
A symbolic manipulation package for modeling of rigid or flexible manipulators
Author :
Tzes, Anthony S. ; Yurkovich, Stephen ; Langer, F. Dieter
Author_Institution :
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
A systematic algorithm is presented for the generation of the kinematic and dynamic equations of multilink rigid and/or flexible manipulators. The MACSYMA symbolic algebraic manipulation language is utilized to implement this algorithm, and an optimum code in terms of memory space is generated. Kinematic equations are derived using homogeneous transformation matrices, and the dynamic equations are obtained subsequently using the Euler-Lagrange formulation. The advantages of this algorithm and simulation results for control implementation are presented
Keywords :
control system analysis; kinematics; matrix algebra; robots; Euler-Lagrange formulation; MACSYMA; dynamic; flexible manipulators; kinematic; matrix algebra; modeling; multilink rigid robots; symbolic algebraic manipulation language; transformation matrices; Actuators; Arm; Costs; Energy consumption; Equations; Kinematics; Lighting control; Manipulator dynamics; Orbital robotics; Packaging;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12283
