Title :
MAPLE in automatic generation of forward kinematics and Jacobians of robotic manipulators
Author :
Kwong, Man Kam ; Peng-Yung Woo ; Wang, Rongdong
Author_Institution :
Div. of Math. & Comput. Sci., Argonne Nat. Lab., IL, USA
Abstract :
Programs are presented for deriving forward kinematics and Jacobians of robotic manipulators in symbolic closed forms by using the algebraic manipulation software MAPLE. Examples are given.<>
Keywords :
control engineering computing; kinematics; robots; Jacobians; MAPLE; algebraic manipulation software; forward kinematics; robotic manipulators; Acceleration; Computer errors; Computer science; Equations; Jacobian matrices; Kinematics; Laboratories; Manipulator dynamics; Robotics and automation; Robots;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240547
