| contributor author | M. C. Leu | |
| contributor author | N. Hemati | |
| date accessioned | 2017-05-08T23:22:10Z | |
| date available | 2017-05-08T23:22:10Z | |
| date copyright | September, 1986 | |
| date issued | 1986 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26092#172_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/100959 | |
| description abstract | 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators | |
| type | Journal Paper | |
| journal volume | 108 | |
| journal issue | 3 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3143765 | |
| journal fristpage | 172 | |
| journal lastpage | 179 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1986:;volume( 108 ):;issue: 003 | |
| contenttype | Fulltext | |