Kinematic analysis of the 6R manipulator of general geometry
The fifth international symposium on Robotics research
Symbolic calculation of the base inertial parameters of closed-loop robots
International Journal of Robotics Research
Mathematica: A System for Doing Mathematics by Computer
Mathematica: A System for Doing Mathematics by Computer
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
General Solution for the Dynamic Modeling of Parallel Robots
Journal of Intelligent and Robotic Systems
SageRobotics: open source framework for symbolic computation of robot models
Proceedings of the 27th Annual ACM Symposium on Applied Computing
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This paper presents the software package SYMORO+ for the automatic symbolic modelling of robots. This package permits to generate the direct geometric model, the inverse geometric model, the direct kinematic model, the inverse kinematic model, the dynamic model, and the inertial parameters identification models.The structure of the robots can be serial, tree structure or containing closed loops. The package runs on Sun stations and PC computers, it has been developed under MATHEMATICA and C language. In this paper we give an overview of the algorithms used in the different models; the computational cost of the dynamic models of the PUMA robot are given.