A two-step algorithm for generating efficient manipulator models in symbolic form

An algorithm is presented for generating numerically efficient manipulator models in symbolic form, i.e., as computer programs written in a high-level language such as C or FORTRAN. The algorithm does its job in two main steps. First, a suboptimal symbolic model, which is the input for the second step, is generated. The first step has been explained in the authors´ previous papers (1989). The main emphasis in this study is put on the second step: generating analytical expressions of output variables in the form of so-called structural matrices and their reconstruction into a program again.