Computer algebra for real- time dynamics of robots with large numbers of joints

Abstract

This paper deals with the description of a theoretical background of systematic computer algebra methods for analyzing the real-time dynamics of robots with a large numbers of joints. Many numerical methods based on different principles of mechanics were developed to obtain the equations that model the dynamic behavior of robots. In this paper, 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, the computer algebra system VIBRAN was used. A real-time dynamic model in closed form of the robots with large numbers of joints has been developed, using the computer algebra technique with the following automatic program code generation.