Title :
An efficient algorithm for automatic generation of manipulator dynamic equations
Author :
Yin, S. ; Yuh, J.
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
An algorithm generating the dynamic equations of the manipulator in a symbolic form is presented. The proposed algorithm is based on a modified Lagrange-Christoffel formulation of robot dynamics. A PC-based program, ARDEG, implements the algorithm and automatically generates the equations of motion for open-chain manipulators in a symbolic form. Various types of manipulators are investigated to evaluate the efficiency of the program. In a 3-DOF PUMA robot, the ARDEG-generated algorithm reduces the computational load of a general Newton-Euler recursive algorithm by 80% and that of a recursive algorithm generated by the computer program ARM by more than 22%
Keywords :
computational complexity; digital simulation; dynamics; microcomputer applications; robots; symbol manipulation; 3-DOF PUMA robot; ARDEG; ARM; PC-based program; automatic equation generation; computational complexity; equations of motion; general Newton-Euler recursive algorithm; manipulator dynamic equations; microcomputer; modified Lagrange-Christoffel formulation; open-chain manipulators; robot dynamics; symbolic form; Computational modeling; Control engineering; Equations; Laboratories; Lagrangian functions; Manipulator dynamics; Microcomputers; Personal communication networks; Robotics and automation; Robots;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100237
