Burdick, Joel W. (1986) An algorithm for generation of efficient manipulator dynamic equations. In: Proceedings. 1986 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 212-218. ISBN 9780818646959. https://resolver.caltech.edu/CaltechAUTHORS:20190611-160604589
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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.
| Item Type: | Book Section | ||||||
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| 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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| DOI: | 10.1109/ROBOT.1986.1087659 | ||||||
| Record Number: | CaltechAUTHORS:20190611-160604589 | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190611-160604589 | ||||||
| Official Citation: | J. Burdick, "An algorithm for generation of efficient manipulator dynamic equations," Proceedings. 1986 IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, 1986, pp. 212-218. doi: 10.1109/ROBOT.1986.1087659 | ||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
| ID Code: | 96303 | ||||||
| Collection: | CaltechAUTHORS | ||||||
| Deposited By: | Tony Diaz | ||||||
| Deposited On: | 11 Jun 2019 23:09 | ||||||
| Last Modified: | 16 Nov 2021 17:19 |
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