• DocumentCode
    3615676
  • Title

    SYM-program environment for manipulator modeling, control and simulation

  • Author

    A. Timcenko;N. Kircanski;D. Urosevic;M. Vukobratovic

  • Author_Institution
    Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
  • fYear
    1991
  • fDate
    6/13/1905 12:00:00 AM
  • Firstpage
    1122
  • Abstract
    The structure of SYM, a program package for manipulator modeling, control law synthesis, and simulation, is described. SYM´s research and educational aims are emphasized. The control law synthesis in symbolic form and the system simulation are discussed in detail. Several examples of SYM outputs which depict the main steps in the manipulator control system creation process, namely, manipulator structure as a 3-D scheme, control law definition form, and system simulation results as 2-D plots are presented.
  • Keywords
    "Control system synthesis","Computational modeling","Robot control","Packaging","Robotic assembly","Manipulators","Operating systems","Robot sensing systems","Software libraries","Inverse problems"
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
  • Print_ISBN
    0-8186-2163-X
  • Type

    conf

  • DOI
    10.1109/ROBOT.1991.131744
  • Filename
    131744
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3615676