Automated fast symbolic modeling of robotic manipulators with compliant links (Q1903406)

We present a systematic algorithm for deriving the dynamic equation for a multilink flexible manipulator using the symbolic language MATHEMATICA. The program based on the recursive Lagrangian assumed mode method is applied to determining dynamic load carrying capacity for the flexible manipulator. Techniques for overcoming computer memory limitation, simplifying intermediate derivation, omitting negligible term and improving efficiency of equation generation are discussed.