Symbolic derivation of dynamic equations of motion for robot manipulators using Piogram symbolic method

An algorithm for both manual and automatic derivation of dynamic models of robotic manipulators using the Piogram symbolic method is presented. A program is also developed based on the Newton-Euler formalism by the Piogram symbolic representation method, which is applicable to manipulators of any degree of freedom. Two examples are given to illustrate how to use this program for dynamic equation generation. It is shown that the method has the advantage of simplifying the manipulation process, and thus a large amount of memory space and computing time when the method is implemented in a computer program