Symbolic Derivation of Dynamic Equations of Motion for Robot Manipulators Using Piogram Symbolic Method

Pi-Ying Cheng, Cheng I. Weng, Chao Kuang Chen

    研究成果: Article同行評審

    17 引文 斯高帕斯(Scopus)

    摘要

    In this paper, an algorithm for both manual and automatic derivation of dynamic models of robotic manipulators using Piogram symbolic method is presented. A program is also developed based on the Newton-Euler formalism by Piogram symbolic representation method, which is applicable to the manipulators of any degree of freedom. Two examples are given to illustrate how to use this program for dynamic equation generation. It is shown the present method has the great advantage of simplifying the manipulation process, and thus a large memory space and much computing time are saved as implemented in a computer program.

    原文English
    頁(從 - 到)599-609
    頁數11
    期刊IEEE Journal on Robotics and Automation
    4
    發行號6
    DOIs
    出版狀態Published - 1 一月 1988

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