Affiliation:
1. Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, N.Y. 14853
Abstract
A general computer program for deriving the dynamic equations of motion for robotic manipulators using the symbolic language MACSYMA has been developed. The program, developed based on the Lagrange formalism, is applicable to manipulators of any number of degrees of freedom. Examples are given to illustrate how to use this program for dynamic equation generation. Advantages of expanding the dynamic equations into symbolic form are presented. Techniques for improving efficiency of equation generation, overcoming computer memory limitation, and approximating manipulator dynamics are discussed.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
43 articles.
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