SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS.

Anthony P. Tzes, Stephen Yurkovich, F. Dieter Langer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1526-1531
Number of pages6
ISBN (Print)0818608528
StatePublished - 1988

ASJC Scopus subject areas

  • Engineering(all)

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