ロボット数式処理システム ROSAM II の開発 [in Japanese] Development of Robot Symbolic Analysis System : ROSAM II [in Japanese]
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This paper presents a robot symbolic analysis system by Maple called ROSAM II for the symbolic modeling of robots. The ROSAM II permit to generate the symbolic models of forward kinematics, inverse kinematics, forward dynamics, inverse dynamics, base parameters and so on for serial robots, tree-structured robots and closed-loop robots. It has been developed under the computer algebra software Maple V and its GUI for settling robot parameters has been implemented using the C++ language under Windows95/NT. In this paper we represent a design concept of the ROSAM II and an overview of algorithms generating symbolic models. An example for the robot symbolic analysis is also shown.
JRSJ 17(3), 408-415, 1999-04-15
The Robotics Society of Japan