DocumentCode
2005837
Title
A symbolic manipulation package for modeling of rigid or flexible manipulators
Author
Tzes, Anthony S. ; Yurkovich, Stephen ; Langer, F. Dieter
Author_Institution
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1526
Abstract
A systematic algorithm is presented for the generation of the kinematic and dynamic equations of multilink rigid and/or flexible manipulators. The MACSYMA symbolic algebraic manipulation language is utilized to implement this algorithm, and an optimum code in terms of memory space is generated. Kinematic equations are derived using homogeneous transformation matrices, and the dynamic equations are obtained subsequently using the Euler-Lagrange formulation. The advantages of this algorithm and simulation results for control implementation are presented
Keywords
control system analysis; kinematics; matrix algebra; robots; Euler-Lagrange formulation; MACSYMA; dynamic; flexible manipulators; kinematic; matrix algebra; modeling; multilink rigid robots; symbolic algebraic manipulation language; transformation matrices; Actuators; Arm; Costs; Energy consumption; Equations; Kinematics; Lighting control; Manipulator dynamics; Orbital robotics; Packaging;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12283
Filename
12283
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