DocumentCode
2528233
Title
DYMIR: A code for generating dynamic model of robots
Author
Cesareo, G. ; Nicolò, F. ; Nicosia, S.
Author_Institution
Università di Roma, La Sapienza Via Eudossiana, Roma, Italy
Volume
1
fYear
1984
fDate
30742
Firstpage
115
Lastpage
120
Abstract
In this paper a program for generating the model of industrial robots in a symbolic form is presented. The program, called DYMIR, derives the motion equations of robots here considered as a chain of rigid bodies connected by suitable single degree-of-freedom (DOF) joints. This is transparent to the user and allows the symbolic calculation of dynamical models until twelve DOF and may take into account elasticity and transmission losses at the joints.
Keywords
Algorithm design and analysis; Automatic generation control; Elasticity; Equations; Industrial control; Kinematics; Numerical models; Propagation losses; Robotics and automation; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1984 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1984.1087208
Filename
1087208
Link To Document