{"title":"用图形符号法推导机器人机械臂的动力学方程","authors":"Pi-Ying Cheng, Ching-I Weng, Cha’o-Kuang Chen","doi":"10.1109/56.9298","DOIUrl":null,"url":null,"abstract":"An algorithm for both manual and automatic derivation of dynamic models of robotic manipulators using the Piogram symbolic method is presented. A program is also developed based on the Newton-Euler formalism by the Piogram symbolic representation method, which is applicable to manipulators of any degree of freedom. Two examples are given to illustrate how to use this program for dynamic equation generation. It is shown that the method has the advantage of simplifying the manipulation process, and thus a large amount of memory space and computing time when the method is implemented in a computer program. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"27","resultStr":"{\"title\":\"Symbolic derivation of dynamic equations of motion for robot manipulators using Piogram symbolic method\",\"authors\":\"Pi-Ying Cheng, Ching-I Weng, Cha’o-Kuang Chen\",\"doi\":\"10.1109/56.9298\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An algorithm for both manual and automatic derivation of dynamic models of robotic manipulators using the Piogram symbolic method is presented. A program is also developed based on the Newton-Euler formalism by the Piogram symbolic representation method, which is applicable to manipulators of any degree of freedom. Two examples are given to illustrate how to use this program for dynamic equation generation. It is shown that the method has the advantage of simplifying the manipulation process, and thus a large amount of memory space and computing time when the method is implemented in a computer program. >\",\"PeriodicalId\":370047,\"journal\":{\"name\":\"IEEE J. Robotics Autom.\",\"volume\":\"30 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"27\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE J. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/56.9298\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/56.9298","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Symbolic derivation of dynamic equations of motion for robot manipulators using Piogram symbolic method
An algorithm for both manual and automatic derivation of dynamic models of robotic manipulators using the Piogram symbolic method is presented. A program is also developed based on the Newton-Euler formalism by the Piogram symbolic representation method, which is applicable to manipulators of any degree of freedom. Two examples are given to illustrate how to use this program for dynamic equation generation. It is shown that the method has the advantage of simplifying the manipulation process, and thus a large amount of memory space and computing time when the method is implemented in a computer program. >
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