SYMBOLIC DERIVATION OF KINEMATIC EQUATIONS OF ROBOTS VIA COMPUTERS

Authors
VIBET C
Citation
C. Vibet, SYMBOLIC DERIVATION OF KINEMATIC EQUATIONS OF ROBOTS VIA COMPUTERS, Computer methods in applied mechanics and engineering, 109(3-4), 1993, pp. 351-357
Citations number
6
Categorie Soggetti
Computer Application, Chemistry & Engineering",Mechanics,"Computer Applications & Cybernetics","Engineering, Mechanical
Journal title
Computer methods in applied mechanics and engineering → ACNP
ISSN journal
00457825
Volume
109
Issue
3-4
Year of publication
1993
Pages
351 - 357
Database
ISI
SICI code
0045-7825(1993)109:3-4<351:SDOKEO>2.0.ZU;2-N
Abstract
A general computer program for deriving symbolically the kinematic equ ations of robots has been developed to run with the free Version 1.0 o f FORM. The program is based on the Denavit-Hartenberg description of manipulators and needs the input of the components of A(n) matrices be fore computing the robot equations. This method is very attractive sin ce, in particular, manipulators with any degrees of freedom can be ana lysed on PCs.