Computer generation of robot dynamics equations and the related issues

Journal Article · Tue Dec 31 23:00:00 EST 1985 · J. Robot. Syst.; (United States)

OSTI ID:6832266

Leu, M C; Koplik, J

Two programs have been developed using the computer algebra system REDUCE to generate the dynamics equations of motion for robot manipulators. One of these programs is based on a Lagrange formulation and the other utilizes a recursive Newton-Euler formulation. Both programs produce equivalent scalar symbolic expressions for the generalized actuator forces, but the program based on the recursive Newton-Euler formulation is more efficient for the generation of equations. These programs have been used to generate the dynamics equations of manipulators with as many as six degrees of freedom. 16 references.

• Research Organization: Cornell Univ., Ithaca, NY
• OSTI ID: 6832266
• Journal Information: J. Robot. Syst.; (United States), Journal Name: J. Robot. Syst.; (United States) Vol. 3; ISSN JRSYD
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS
990210* -- Supercomputers-- (1987-1989)
ACTUATORS
COMPUTER CODES
DEGREES OF FREEDOM
DIFFERENTIAL EQUATIONS
EQUATIONS
EQUATIONS OF MOTION
EQUIPMENT
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
PARALLEL PROCESSING
PARTIAL DIFFERENTIAL EQUATIONS
PROGRAMMING
R CODES
REMOTE HANDLING EQUIPMENT
ROBOTS