Using MAPLE for symbolic computations in robotics

Conference · Sun Dec 31 23:00:00 EST 1989

OSTI ID:7005849

Kwong, Man Kam; Wang, Rongdong ^[1]; Woo, Peng-Yung ^[2]

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1. Argonne National Lab., IL (USA)
2. Northern Illinois Univ., Dekalb, IL (USA). Dept. of Electrical Engineering

Programs are presented for deriving forward kinematics, Jacobians and dynamic equations of robotic manipulators in symbolic closed forms by using the algebraic manipulation software MAPLE. Examples are given. Efficiency of these computations are discussed. 7 refs.

• Research Organization: Argonne National Lab., IL (USA)
• Sponsoring Organization: DOE/ER
• DOE Contract Number: W-31109-ENG-38
• OSTI ID: 7005849
• Report Number(s): CONF-900559-14; ON: DE90010405
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200* -- Engineering-- Facilities
Equipment
& Techniques
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
COMPUTER ARCHITECTURE
COMPUTER CALCULATIONS
COMPUTER CODES
DIFFERENTIAL EQUATIONS
EQUATIONS
EQUATIONS OF MOTION
EQUIPMENT
FUNCTIONS
JACOBIAN FUNCTION
LABORATORY EQUIPMENT
M CODES
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
PARTIAL DIFFERENTIAL EQUATIONS
REMOTE HANDLING EQUIPMENT
ROBOTS