A two-step algorithm for generating efficient manipulator models in symbolic form

Timčenko, A.; Kircanski, N.; Vukobratović, Miomir

doi:10.1109/robot.1991.131901

Cited by 10 publications

(11 citation statements)

References 13 publications

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“…As shown in the literature [36,21], this technique reduces the model's numerical complexity by 30-70%.…”

Section: Numerical Complexity Optimizationmentioning

confidence: 99%

“…• closed-form expression generation, • optimization of a generated model's numerical complexity [36,21], • model differentiation with respect to a variable or a parameter, i.e. linearized and sensitivity model generation, • rearranging generated programs into a form suitable for execution on arrayprocessors [37].…”

Section: Sym -An Illustrative Example Of An Advanced Symbolic Softwarmentioning

confidence: 99%

“…Closed-form analytical expressions of model variables are presented in a form of so-called structural matrices [36,21]. This module transforms an input model into its output variables' structural matrices.…”

Section: Analytical Expression Generationmentioning

confidence: 99%

“…Symbolic software packages in robotics belong to computational robot dynamicsa field of robotics which has been developing intensively since 1983 [19][20][21]. The main goal of many research efforts in this field can be formulated as follows: to obtain a program code of a dynamic robot model with minimal computational burden.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Symbolic modeling in robotics: Genesis, applicaton, and future prospects

Kircanski

Vukobratović

Timčenko

et al. 1993

J Intell Robot Syst

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Abstract. This survey article gives an overview of software packages for generating numerically efficient manipulator models in symbolic form, i.e. as computer programs written in a high-level language such as C or FORTRAN. We chronicle the history of computational robot dynamics and, to some extent, multibody systems dynamics. We survey several mechanical computer-aided engineering software packages because they have charted the course for symbolic robot modeling software. The attractive features of various programs regarding areas of application (vehicles, robots, satellites, etc.) and design possibilities (kinematic and dynamic analysis, modal analysis, optimization of mechanical design, numerical efficiency of generated symbolic models, etc.) are emphasized. Finally, as an example, we present the SYM program package in more detail and point out the new strategic area of robotics which has emerged during the last two years: computer-aided generation of control laws.

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“…As shown in the literature [36,21], this technique reduces the model's numerical complexity by 30-70%.…”

Section: Numerical Complexity Optimizationmentioning

confidence: 99%

Section: Sym -An Illustrative Example Of An Advanced Symbolic Softwarmentioning

confidence: 99%

Section: Analytical Expression Generationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Symbolic modeling in robotics: Genesis, applicaton, and future prospects

Kircanski

Vukobratović

Timčenko

et al. 1993

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

“…The performance of robot manipulators depends greatly on the control frequency [8] as much as control algorithm [20] itself. The higher the frequency, the closer the system can emulate a continuous system and thus behave in a predictable manner.…”

Section: Introductionmentioning

confidence: 99%

Real-time computational aspects of multiple manipulator systems

Kircanski

Hui

Shimoga

et al. 1994

J Intell Robot Syst

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Abstract. In this paper, we address the topic of numerical computation in a system of multiple manipulators, one which has received scant attention despite a great deal of research in development of control schemes and the proliferation of similar work on single manipulator systems. Different approaches to computations in kinematics, statics and dynamics of multiple manipulator systems are studied and compared. The results show that significant savings in computational count can be achieved through customization of models. A systematic approach to customization is also described herein.

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Parallel computing of symbolic robot models and control laws: Theory and application on advanced multiprocessor architectures

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A two-step algorithm for generating efficient manipulator models in symbolic form

Cited by 10 publications

References 13 publications

Symbolic modeling in robotics: Genesis, applicaton, and future prospects

Symbolic modeling in robotics: Genesis, applicaton, and future prospects

Real-time computational aspects of multiple manipulator systems

Parallel computing of symbolic robot models and control laws: Theory and application on advanced multiprocessor architectures

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