Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators

DOI10.1115/1.3143765MaRDI QIDQ3731056zbMATH OpenOpenAlexFDO

Authors

Publication date 1986

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3143765

zbMATH Keywords

Lagrange formalismrobotic manipulators

Mathematics Subject Classification ID

Software, source code, etc. for problems pertaining to mechanics of particles and systems (70-04) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

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(20)

• Application of computer algebra to the iterative solution of singular integral equations
• Symbolic modelling of controlled mechanisms
• Automatic generation of motion equations for planar mechanical systems using the new set of ``branch coordinates.
• Group-theoretical methods in manipulator kinematics and symbolic computations
• Graphical operation of vectors and matrices.
• An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations
• Nonlinear chaos control in a permanent magnet reluctance machine
• Chaos synchronization and parameters identification of single time scale brushless DC motors
• Automated fast symbolic modeling of robotic manipulators with compliant links
• An approach to analytical construction of the equations of motion of robot manipulators
• Symbolic derivation of kinematic equations of robots via computers
• A method of deriving the dynamic equations of robotic manipulators in numerical-analytic form
• scientific article; zbMATH DE number 3888955 (Why is no real title available?)
• Triangularization of equations of motion for robotic systems
• Engineering design of a multirate nonlinear controller for robot manipulators
• Computer generation of symbolic kinematics for robot manipulators
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• Analytical generation of the dynamical equations for mechanical manipulators
• Computational Science – ICCS 2005
• Anti-control of chaos of single time scale brushless dc motors and chaos synchronization of different order systems

Describes a project that uses

Uses Software

• MACSYMA

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