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

robotic manipulatorsLagrange formalism

Mathematics Subject Classification ID

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

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(18)

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

Describes a project that uses

Uses Software

• MACSYMA

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