AN APPROACH TO AUTOMATIC-GENERATION OF DYNAMIC EQUATIONS OF ELASTIC JOINT MANIPULATORS IN SYMBOLIC LANGUAGE

This paper describes an approach for automatic generation of the equat ions of motion of elastic joint manipulators in symbolic language. It is based on a vector-parametrization of the Lie group SO(3) and uses t he Lagrange's formalism to derive the dynamical equations, the final f orms of which are like the equations generated by a recursive Newton-E ulerian algorithm. These characteristics together increase the computa tional efficiency of the algorithm and give a very good insight into t he dynamical structure of the system. In addition to this, the inertia matrix is explicitly given in the final equations, which is very impo rtant for the applicability of a mathematical model in different field s of control and simulation. The suggested algorithm is therefore quit e appropriate for the purposes of robot modeling, identification as we ll as for the applications in real time simulations and control.