SYMTOM: an algebraic robotic manipulator modelling program

Author

Toyama, S. ; Hatae, Shigeki

Author_Institution

Fac. of Technol., Tokyo A&T Univ., Japan

fYear

1990

fDate

3-6 Jul 1990

Firstpage

197

Abstract

A symbolic computation software package for a robotic manipulator has been developed using computer mathematics system MACSYMA. This software, SYMTOM, has the capabilities of solving symbolically dynamics, kinematics, and Jacobian matrix, and it is connected with the TOMCAT system developed by the authors as a CAD for a robotic manipulator. This new CAD system provides the most simplified symbolic solutions of dynamics and kinematics, which enables a designer to obtain the insight and the qualitative understanding of the kinematics and dynamics models, and develop the optimal computer codes for a numerical calculation. This CAD system will be a useful tool for designing an optimal robotic manipulator

Keywords

control system CAD; digital simulation; dynamics; kinematics; matrix algebra; robots; software packages; CAD; Jacobian matrix; MACSYMA; SYMTOM; TOMCAT; algebraic robotic manipulator modelling program; dynamics; kinematics; symbolic computation software package; Computational modeling; Design automation; Inverse problems; Jacobian matrices; Kinematics; Lagrangian functions; Large Hadron Collider; Manipulator dynamics; Mathematics; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on

Conference_Location

Ibaraki

Type

conf

DOI

10.1109/IROS.1990.262387

Filename

262387