Computer-Aided Generation of Numeric-Symbolic Robot Model

Abstract

In the previous chapter we considered some algorithms for mathematical modelling of robot manipulators. We developed a closed-form dynamic robot model which is very suitable for program implementation. Further, we indicated how such a model could be used to prove the property of symmetry and positive-definiteness of inertial matrix, and antisymmetry of C-matrices. We also resolved the problem of linearized and sensitivity model generation. In this chapter, we wish to consider the computer implementation of the developed algorithms.