SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS.

Antonios Tzes, Stephen Yurkovich, F. Dieter Langer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A systematic algorithm is presented for the generation of the kinematic and dynamic equations of multilink rigid and/or flexible manipulators. The MACSYMA symbolic algebraic manipulation language is utilized to implement this algorithm, and an optimum code in terms of memory space is generated. Kinematic equations are derived using homogeneous transformation matrices, and the dynamic equations are obtained subsequently using the Euler-Lagrange formulation. The advantages of this algorithm and simulation results for control implementation are presented.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1526-1531
Number of pages6
ISBN (Print)0818608528
StatePublished - Jan 1 1988

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Flexible manipulators
Kinematics
Data storage equipment

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Tzes, A., Yurkovich, S., & Langer, F. D. (1988). SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS. In Unknown Host Publication Title (pp. 1526-1531). IEEE.

SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS. / Tzes, Antonios; Yurkovich, Stephen; Langer, F. Dieter.

Unknown Host Publication Title. IEEE, 1988. p. 1526-1531.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tzes, A, Yurkovich, S & Langer, FD 1988, SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS. in Unknown Host Publication Title. IEEE, pp. 1526-1531.
Tzes A, Yurkovich S, Langer FD. SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS. In Unknown Host Publication Title. IEEE. 1988. p. 1526-1531
Tzes, Antonios ; Yurkovich, Stephen ; Langer, F. Dieter. / SYMBOLIC MANIPULATION PACKAGE FOR MODELING OF RIGID OR FLEXIBLE MANIPULATORS. Unknown Host Publication Title. IEEE, 1988. pp. 1526-1531
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