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.
Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique
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Townsend, M. A., and Gupta, S. (December 1, 1989). "Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique." ASME. J. Mech., Trans., and Automation. December 1989; 111(4): 537–544. https://doi.org/10.1115/1.3259035
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