Application of symbolic computation in robot pose error modelling
This paper presents an application of symbolic computation in error modelling of industrial robots. More explicitly the authors take the linear DH model proposed by \textit{Veitschegger} and \textit{Wu} [IEEE J. Robotics Aut. RA-2, 171-179 (1986)] which consists of five error parameters per link. They also present the first and second order correction matrices which depend on the number of links of the manipulator N. These are taken from the above reference and then rewritten as equations (15) and (16) in the paper. The authors write a program code called SCRPE which utilizes the symbolic manipulation capability of MACSYMA (a Lisp-based AI language) in oder to symbolically compute the above equations. This is the main product of the paper. They apply the command TRIGSIMP to simplify trigonometric expressions and they also use the SUBST command, to substitute numerical values which output the required result. The code is simple, developed on VAX/VMS OS. Thus the work is very simple and just presents a program code for existing formulas. There is no algorithm or theoretical development. I believe that many programmers familiar with MACSYMA may develop such a code.
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