개인용 컴퓨터를 이용한 로보트 매니퓨레이터의 동적 방정식의 자동새성에 관한연구

Automatic Generation of Dynamic Equations for Robotic Manipulators using Personal Computer

A program is developed for generating the dynamic equations for the robotic manipulators using the symbolic language muSIMP/ MATH. The muSIMP/ MATH is a LISP-based computer. algebra package, devoted to the manipulation of algebraic expressions including numbers, variables, functions, and matrices. The muSIMP-MATH can operate on personal computer such as IBM-PC. The program is developed, based on the Lagrange-Euler formulation. This program is applicable to the manipulators with any number of degrees of freedom, and maximum number of degrees of freedom is set to be six in this program.