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SYMORO+: A system for thesymbolic modelling of robots

Published online by Cambridge University Press:  01 March 1997

Wisama Khalil  and
Denis Creusot
Wisama Khalil
Affiliation:
Ecole Centrale de Nantes, Laboratoire d'Automatique de Nantes URA C.N.R.S 823, P.B 92 101, 44321 Nantes cedex 3, France. E-mail: Wisama.Khalil@lan.ec-nantes.fr
Denis Creusot
Affiliation:
Ecole Centrale de Nantes, Laboratoire d'Automatique de Nantes URA C.N.R.S 823, P.B 92 101, 44321 Nantes cedex 3, France. E-mail: Wisama.Khalil@lan.ec-nantes.fr
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Abstract

This paper presents the software package SYMORO+ for the automatic symbolic modelling of robots. This package permits to generate the direct geometric model, the inverse geometric model, the direct kinematic model, the inverse kinematic model, the dynamic model, and the inertial parameters identification models.

The structure of the robots can be serial, tree structure or containing closed loops. The package runs on Sun stations and PC computers, it has been developed under MATHEMATICA and C language. In this paper we give an overview of the algorithms used in the different models; the computational cost of the dynamic models of the PUMA robot are given.

Keywords

Symbolic calculationRobotsSymbolic modellingSYMORO+
Type
Research Article
Information
Robotica , Volume 15 , Issue 2 , March 1997 , pp. 153 - 161
Copyright
© 1997 Cambridge University Press

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