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Symbolic modeling of robot kinematics and dynamics

1995; Elsevier BV; Volume: 14; Issue: 4 Linguagem: Inglês

10.1016/0921-8890(95)00007-3

1872-793X

C. Vibet,

Teaching and Learning Programming

As a component of advanced manufacturing technology, this report presents applications of FORM to solve symbolically a class of usual robotic problems. One advantage of this symbolic manipulation code is to perform, even on PCs, the manipulation of giant formulae. Though the code has a low built-in knowledge, but handles indices, vectors, matrices, traces, tensors, as well as factorial and delta functions, it can be directly ported on a large variety of computers such as Alliant, Appolo, Atari ST, Gould (NP1 and 9080), MacIntosh, PCs, SUN and VAX (VMS and Ultrix). The symbolic programs given in this paper perform on PCs the kinematics and dynamics analysis of simple robots via the free version 1.0 of FORM. This approach shows us a way to develop at low cost many useful robotic packages for education as well as Research & Development purposes.