OpenSYMORO: An open-source software package for Symbolic Modelling of Robots

Wisama Khalil (1) , Aravindkumar Vijayalingam (1) , Bogdan Khomutenko (1) , Izzatbek Mukhanov (1) , Philippe Lemoine (1) , Gaël Ecorchard (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 IWP Chemnitz - Institute for Machine Tools and Production Processes

This paper presents OpenSYMORO, an open-source software package for symbolic modelling of robots. This software package is based on SYMORO+ software package. However, that package was developed using Wolfram Mathematica and hence required Mathematica license for use. OpenSYMORO is mainly developed using the Python programming language and the source code will be publicly available. The new version provides support to model robots with flexible joints, floating base and wheeled mobile robots. This is in addition to supporting serial, tree structure and closed-loop robots. A visualisation tool to view the structure of the robot is also included.

Domaines: Mécanique des structures [physics.class-ph]; Mécanique des structures [physics.class-ph]

Wisama Khalil, Aravindkumar Vijayalingam, Bogdan Khomutenko, Izzatbek Mukhanov, Philippe Lemoine, et al.. OpenSYMORO: An open-source software package for Symbolic Modelling of Robots. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.1206-1211. ⟨hal-01025919⟩