This paper describes a specialized computer algebra system for automated derivation of models of dynamics for open chain mechanisms. The considered mechanisms consist of a moving base and an arbitrary number of links, connected serially by prismatic and rotary joints. The order of the joint types is arbitrary. Given types of the joints, the system obtains equations for linear and angular velocities of each body in the mechanism. Then, the system obtains the Lagrangian for the mechanism in the symbolic form. Then, using symbolic differentiation of the Lagrangian, the system obtains the equations of motion for the mechanism. Finally, the equations are translated into the Matlab/Octave language. The algebraic expressions are represented by data structures based on a novel theory of generalized multisets. The whole system is implemented as a logic program, using the SWI-Prolog language. Completeness and correctness of the program has been verified by solving for robotic manipulator dynamics.
Automated Derivation of Equations of Motion for Open Chain Mechanisms
2018-08-01
119882 byte
Conference paper
Electronic Resource
English
Derivation of perturbed equations of motion of aircraft
Online Contents | 1998
|Geometric Derivation of Camera Equations
SAE Technical Papers | 2022
|Automated derivation of tests from specifications
AIAA | 2018
|