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RESEARCH PAPERS: Mechanisms Papers

Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique

[+] Author and Article Information
M. A. Townsend, S. Gupta

Department of Mechanical and Aerospace Engineering, University of Virginia, Charlottesville, VA 22901

J. Mech., Trans., and Automation 111(4), 537-544 (Dec 01, 1989) (8 pages) doi:10.1115/1.3259035 History: Received January 01, 1987; Revised October 01, 1988; Online November 19, 2009

Abstract

Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic state of a robot. This method uses a combination of symbolic and numerical computations on the equations of motion, which are developed in the form of polynomials—hence the name, the symbolic polynomial technique.

Copyright © 1989 by ASME
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