SageRobotics

Abstract

This paper presents the SageRobotics framework to symbolically compute robot dynamics. Such framework is open source and is built upon the freely available and open source Sage mathematical software. Given a set of Denavit-Hartenberg parameters describing a serial robot the framework is capable of constructing geometric, kinematic and dynamic models. It offers both Euler-Lagrange and Recursive Newton-Euler formulations for dynamic equation generation, including inverse dynamics, isolated dynamic equation terms and linear to parameters form. The calculation of a minimal base parameter set is also a key feature of this framework. Tools to generate code from symbolic equations are included, enabling the construction of fast numerical functions.