SYMORO+: A SYSTEM FOR THE SYMBOLIC MODELLING OF ROBOTS

Wisama Khalil (1) , Denis Creusot (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper presents the software package SYMORO+ for the automatic symbolic modelling of robots. This package permits to generate the direct geometric model, the inverse geometric model, the direct kinematic model, the inverse kinematic model, the dynamic model, and the inertial parameters identification models. The structure of the robots can be serial, tree structure or containing closed loops. The package runs on Sun stations and PC computers, it has been developed under MATHEMATICA and C language. In this paper we give an overview of the algorithms used in the different models, the computational cost of the dynamic models of the PUMA robot are given.

Mots clés: Symbolic calculation; robots; modelling; kinematic; simulation; identification; dynamic; simulation.

Domaines: Automatique / Robotique

Wisama Khalil, Denis Creusot. SYMORO+: A SYSTEM FOR THE SYMBOLIC MODELLING OF ROBOTS. Robotica, 1997, 15, pp.153-161. ⟨hal-00401687⟩