Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique

摘要

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.