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|
|Number of pages||6|
|State||Published - 1988|
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