SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS.

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

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 proceeding › Conference 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 language	English (US)
Title of host publication	Unknown Host Publication Title
Publisher	IEEE
Pages	1526-1531
Number of pages	6
ISBN (Print)	0818608528
State	Published - 1988

ASJC Scopus subject areas

General Engineering

Cite this

@inproceedings{c844c0d4b9724e88aecbccf3db30a62d,

title = "SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS.",

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.",

author = "Tzes, {Anthony P.} and Stephen Yurkovich and Langer, {F. Dieter}",

year = "1988",

language = "English (US)",

isbn = "0818608528",

publisher = "IEEE",

pages = "1526--1531",

booktitle = "Unknown Host Publication Title",

}

TY - GEN

T1 - SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS.

AU - Tzes, Anthony P.

AU - Yurkovich, Stephen

AU - Langer, F. Dieter

PY - 1988

Y1 - 1988

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0023712939&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0023712939&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0023712939

SN - 0818608528

SP - 1526

EP - 1531

BT - Unknown Host Publication Title

PB - IEEE

ER -

SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS.

Abstract

ASJC Scopus subject areas

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