Organizing customized robot dynamics algorithms for efficient numerical evaluation
IEEE Transactions on Systems, Man and Cybernetics
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Review: An overview of dynamic parameter identification of robots
Robotics and Computer-Integrated Manufacturing
Robotics: Modelling, Planning and Control
Robotics: Modelling, Planning and Control
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This paper presents the SageRobotics framework to symbolically compute robot dynamics. Such framework is open source and is built upon the freely available and open source Sage mathematical software. Given a set of Denavit-Hartenberg parameters describing a serial robot the framework is capable of constructing geometric, kinematic and dynamic models. It offers both Euler-Lagrange and Recursive Newton-Euler formulations for dynamic equation generation, including inverse dynamics, isolated dynamic equation terms and linear to parameters form. The calculation of a minimal base parameter set is also a key feature of this framework. Tools to generate code from symbolic equations are included, enabling the construction of fast numerical functions.