The application of general control theory to complex mechanical systems represents an extremely difficult problem. If industrial piezoelectric robots have large number of joints, development of new control algorithms is unavoidable in order to achieve high positioning accuracy. The efficiency of computer algebra application was compared with the most popular methods of forming the dynamic equations of robots in real time. To this end, a computer algebra system VIBRAN was used. Expressions for the generalized inertia matrix of the robots have been derived by means of the computer algebra technique with the following automatic program code generation. As shown in the paper, such application could drastically reduce the number of floating point product operations that are required for efficient numerical simulation of piezoelectric robots.
Computer algebra for solving dynamics problems of piezoelectric robots with large number of joints
2011-01-01
Journal of Vibroengineering, Vilnius : Vibromechanika, 2011, vol. 13, iss. 2, art. no. 623, p. 186-194 ; ISSN 1392-8716 ; eISSN 2538-8460
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Computer algebra for solving dynamics problems of piezoelectric robots with large number of joints
BASE | 2011
|Computer algebra for solving dynamics problems of piezoelectric robots with large number of joints
BASE | 2011
|NTRS | 1990
|Parallel Robots with Lockable Revolute Joints
Springer Verlag | 2019
|Solving scheduling problems by computer
Springer Verlag | 1986
|