Symbolic Derivation of Dynamic Equations of Motion for Robot Manipulators Using Piogram Symbolic Method

Pi-Ying Cheng; Cheng I. Weng; Chao Kuang Chen

doi:10.1109/56.9298

Symbolic Derivation of Dynamic Equations of Motion for Robot Manipulators Using Piogram Symbolic Method

Pi-Ying Cheng, Cheng I. Weng, Chao Kuang Chen

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

15 Scopus citations

Abstract

In this paper, an algorithm for both manual and automatic derivation of dynamic models of robotic manipulators using Piogram symbolic method is presented. A program is also developed based on the Newton-Euler formalism by Piogram symbolic representation method, which is applicable to the manipulators of any degree of freedom. Two examples are given to illustrate how to use this program for dynamic equation generation. It is shown the present method has the great advantage of simplifying the manipulation process, and thus a large memory space and much computing time are saved as implemented in a computer program.

Original language	English
Pages (from-to)	599-609
Number of pages	11
Journal	IEEE Journal on Robotics and Automation
Volume	4
Issue number	6
DOIs	https://doi.org/10.1109/56.9298
State	Published - 1 Jan 1988

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