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Abstract:
A Software package for the automated modeling of robotic dynamics has
been developed which is based on an improved analytical (aumeric-symbolic)
model algorithm. Motion equations of robot in analytical form are
derived automatically by the computer, and the software can also
generate real-time code of dynamic model automatically on the computer.
The improved algorithm improves the optimal operation of the polynomial
structure metrics of the dynamic model, and the modus for output
real-time code is also simplified with much less intermediate variables
which improves the operation speed and results in the minimization of
number of floating-point multiplications/additions.
The package also has a graphical interface used for real-time simulation
and graphics rendering of robotic dynamics.
关键词: 机器人 动力学
国家自然科学基金资助项目. Received 199007, received in revised form 199011
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