DocumentCode :
795198
Title :
Use of symbolic computation in robotics education
Author :
Vira, Naren ; Tunstel, Edward
Author_Institution :
Howard Univ., Wahington, DC, USA
Volume :
35
Issue :
1
fYear :
1992
fDate :
2/1/1992 12:00:00 AM
Firstpage :
18
Lastpage :
30
Abstract :
An application of symbolic computation in robotics education is described. A software package is presented which combines generality, user interaction, and user-friendliness with the systematic usage of symbolic computation and artificial intelligence techniques. The software utilizes MACSYMA, a LISP-based symbolic algebra language, to automatically generate closed-form expressions representing forward and inverse kinematics solutions, the Jacobian transformation matrices, robot pose error-compensation models equations, and Lagrange dynamics formulation for N degree-of-freedom, open chain robotic manipulators. The goal of such a package is to aid faculty and students in the robotics course by removing burdensome tasks of mathematical manipulations. The software package has been successfully tested for its accuracy using commercially available robots
Keywords :
artificial intelligence; computer aided instruction; control engineering computing; educational courses; robots; software packages; symbol manipulation; Jacobian transformation matrices; LISP-based symbolic algebra language; Lagrange dynamics formulation; MACSYMA; N degree-of-freedom; artificial intelligence; closed-form expressions; inverse kinematics solutions; open chain robotic manipulators; robot pose error-compensation; robotics education; software package; symbolic computation; user interaction; user-friendliness; Algebra; Application software; Artificial intelligence; Closed-form solution; Computer applications; Educational robots; Jacobian matrices; Manipulator dynamics; Robotics and automation; Software packages;
fLanguage :
English
Journal_Title :
Education, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9359
Type :
jour
DOI :
10.1109/13.123413
Filename :
123413
Link To Document :
بازگشت