Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators

[+] Author and Article Information
M. C. Leu, N. Hemati

Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, N.Y. 14853

J. Dyn. Sys., Meas., Control 108(3), 172-179 (Sep 01, 1986) (8 pages) doi:10.1115/1.3143765 History: Received April 10, 1986; Online July 21, 2009


A general computer program for deriving the dynamic equations of motion for robotic manipulators using the symbolic language MACSYMA has been developed. The program, developed based on the Lagrange formalism, is applicable to manipulators of any number of degrees of freedom. Examples are given to illustrate how to use this program for dynamic equation generation. Advantages of expanding the dynamic equations into symbolic form are presented. Techniques for improving efficiency of equation generation, overcoming computer memory limitation, and approximating manipulator dynamics are discussed.

Copyright © 1986 by ASME
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