Publication | Closed Access
Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators
65
Citations
0
References
1986
Year
Robot KinematicsDynamic EquationsEngineeringField RoboticsRobot DynamicsAdvanced Motion ControlRobotic ManipulatorsIndustrial RoboticsSystems EngineeringKinematicsRobot LearningAutomated Symbolic DerivationMechatronicsDynamic Equation GenerationMotion ControlRobot ControlAerospace EngineeringAutomationMechanical SystemsSymbolic Language MacsymaSymbolic DynamicRobotics
A MACSYMA-based program using Lagrange formalism automatically generates dynamic equations for manipulators of arbitrary degrees of freedom, with examples and techniques to improve efficiency, reduce memory usage, and approximate dynamics. The program successfully derives symbolic dynamic equations for robotic manipulators, demonstrating advantages such as analytical insight and flexibility.
A general computer program for deriving the dynamic equations of motion for robotic manipulators using the symbolic language MACSYMA has been developed. The program, developed based on the Lagrange formalism, is applicable to manipulators of any number of degrees of freedom. Examples are given to illustrate how to use this program for dynamic equation generation. Advantages of expanding the dynamic equations into symbolic form are presented. Techniques for improving efficiency of equation generation, overcoming computer memory limitation, and approximating manipulator dynamics are discussed.