Title :
SYMTOM: an algebraic robotic manipulator modelling program
Author :
Toyama, S. ; Hatae, Shigeki
Author_Institution :
Fac. of Technol., Tokyo A&T Univ., Japan
Abstract :
A symbolic computation software package for a robotic manipulator has been developed using computer mathematics system MACSYMA. This software, SYMTOM, has the capabilities of solving symbolically dynamics, kinematics, and Jacobian matrix, and it is connected with the TOMCAT system developed by the authors as a CAD for a robotic manipulator. This new CAD system provides the most simplified symbolic solutions of dynamics and kinematics, which enables a designer to obtain the insight and the qualitative understanding of the kinematics and dynamics models, and develop the optimal computer codes for a numerical calculation. This CAD system will be a useful tool for designing an optimal robotic manipulator
Keywords :
control system CAD; digital simulation; dynamics; kinematics; matrix algebra; robots; software packages; CAD; Jacobian matrix; MACSYMA; SYMTOM; TOMCAT; algebraic robotic manipulator modelling program; dynamics; kinematics; symbolic computation software package; Computational modeling; Design automation; Inverse problems; Jacobian matrices; Kinematics; Lagrangian functions; Large Hadron Collider; Manipulator dynamics; Mathematics; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262387
