Symbolic approach to the implementation of linearizing compensator for robotic manipulators

The authors propose a new method for practical implementation of linearizing compensators for robotic manipulators. A set of statements to compute inverse dynamics or outputs of the linearizing compensators is derived from closed-form symbolic equations generated using the algebraic computation system REDUCE. To remove redundant computations contained in closed-form symbolic equations, a factoring algorithm is proposed. Using a planar manipulator with two revolution joints, it is shown that the proposed method computes the inverse dynamics faster than the conventional method based on the recursive Newton-Euler formulation