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Published April 1986 | Published
Book Section - Chapter Open

An algorithm for generation of efficient manipulator dynamic equations

Abstract

This paper presents a method for the generation of efficient manipulator dynamic equations in symbolic form. The efficiency is obtained by the use of simplification rules during the process of equation generation. These simplifications are based on the structure of manipulator dynamics, on simplifications that arise from common manipulator geometries, and from other heuristic simplification rules. This algorithm has been implemented in a lisp-based program, EMDEG (Efficient Manipulator Dynamic Equation Generator). The development of the algorithm, the derivation of simplification rules, and some implementation aspects are discussed; and an example is presented.

Additional Information

© 1986 IEEE. The author gratefully acknowledges many helpful and stimulating discussions with Brian Armstrong, which led to improvements in the implementation of EMDEG. This research was made possible by National Science Foundation grant MEA80-19628, and the support of Professor Thomas Binford.

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