Title of article
A COMPUTER ALGEBRA PACKAGE FOR COMPUTATION OF KINEMATICS AND DYNAMICS OF ROBOTS IN SYMBOLIC FORM
Author/Authors
EYDGAHI، A. M. نويسنده ,
Issue Information
دوفصلنامه با شماره پیاپی سال 1993
Pages
-238
From page
239
To page
0
Abstract
A software package is described which has been developed to symbolically compute the kinematics and dynamics of a robot. The software utilizes MACSYMA, a LISP-based symbolic computer algebra language, to automatically generate closed-form expressions of forward and inverse kinematics solutions, the Jacobian transformation matrix, and the Lagrange-Euler dynamics formulation of a robotic manipulator with N-degree of freedom.
Keywords
cracking , Delamination , hoop bending moment , iteration , post-tensioned concrete , radial reinforcement , reinforced con-crete , hoop tension
Journal title
Iranian Journal of Science and Technology: Transactions of Civil Engineering
Serial Year
1993
Journal title
Iranian Journal of Science and Technology: Transactions of Civil Engineering
Record number
43732
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