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Symbolic Dynamics

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Encyclopedia of Robotics

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Synonyms

Explicit dynamics

Definition

The terminology “Symbolic Dynamics” is used in robotics when the dynamics of robots is described by symbolic expressions using symbolic variables that do not have numerical values. The computation of these expressions must be done using specific software. The symbolic output can constitute a computation program to get the numerical solution after assigning the numerical values for the necessary constants and variables of the problem.

Overview

The dynamics of robots involves the development of their equations of motion, which describe the relationship between the input joint efforts (forces or torques) and the output motion. In this entry, two basic models will be treated: the inverse dynamic model (IDM), and the Direct Dynamic Model (DDM). The IDM is used in control applications: It calculates the input joint efforts to achieve a set of prescribed joint accelerations. The DDM is used in simulation applications: It calculates the joint accelerations...

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Author information

Authors and Affiliations

  1. Laboratoire des Sciences du Numérique de Nantes (LS2N), UMR CNRS 6004, École Centrale de Nantes, 1 rue de la Noë, 44321 Nantes Cedex 03, France

    Philippe Lemoine

  2. École Centrale de Nantes, 1 rue de la Noë, 44321 Nantes Cedex 03, France

    Wisama Khalil

Authors
  1. Philippe Lemoine
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  2. Wisama Khalil
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Corresponding author

Correspondence to Philippe Lemoine .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Marcelo H. Ang

  2. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

  3. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

Section Editor information

  1. Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy

    Roy Featherstone

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Lemoine, P., Khalil, W. (2022). Symbolic Dynamics. In: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_56-1

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  • DOI: https://doi.org/10.1007/978-3-642-41610-1_56-1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-41610-1

  • Online ISBN: 978-3-642-41610-1

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