Title :
Computer-automated symbolic modeling of dynamics of robotic manipulators with flexible links
Author :
Cetinkunt, Sabri ; Ittoop, Babu
Author_Institution :
Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
fDate :
2/1/1992 12:00:00 AM
Abstract :
Dynamic equations are developed in nonrecursive symbolic form for chain-structured robotic manipulators with compliant links. A program is developed in REDUCE to automate the symbolic expansion of these equations for any given chain-structured manipulator. The symbolic nonrecursive form of the dynamic model is particularly suitable for controller synthesis and real-time control implementations
Keywords :
complete computer programs; digital simulation; distributed parameter systems; dynamics; large-scale systems; robots; symbol manipulation; REDUCE; chain-structured robotic manipulators; compliant links; computer-automated symbolic modelling; dynamics; flexible links; nonrecursive symbolic equations; real-time control implementations; Algorithm design and analysis; Automatic control; Equations; Manipulator dynamics; Mechanical engineering; Production; Productivity; Robot kinematics; Robotics and automation; Shape;
Journal_Title :
Robotics and Automation, IEEE Transactions on
