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An algorithm for generation of efficient manipulator dynamic equations

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. http://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
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1986.1087659DOIArticle
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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Funding AgencyGrant Number
NSFMEA80-19628
Record Number:CaltechAUTHORS:20190611-160604589
Persistent URL:http://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:11 Jun 2019 23:09

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