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Generation of dynamic models of complex robotic mechanisms in symbolic form

Published online by Cambridge University Press:  01 January 1998

Miloš Racković ,
Miomir Vukobratović  and
Dusan Surla
Miloš Racković
Affiliation:
Faculty of Sciences, Institute of Mathematics, Novi Sad, Yugoslavia
Miomir Vukobratović
Affiliation:
Mihajlo Pupin Institute, Belgrade, Yugoslavia
Dusan Surla
Affiliation:
Faculty of Sciences, Institute of Mathematics, Novi Sad, Yugoslavia
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Abstract

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A system to control a database is used for modelling of robotic mechanisms. This brings up the modelling process of robotic mechanisms to a higher level of abstraction and reduces the problem of numerical complexity reduction of the robotic mechanism model to database updating. Structural System Analysis was used to describe the functionality of the system for modelling of robotic mechanisms. The database model is presented by Extended Model Object-Connections, and all the object types for representation of mathematical expressions in the form of calculating graph are described in detail. The complete system is implemented and tested on the example of a robotic mechanism with six degrees of freedom and on the example of anthropomorphic locomotion robotic mechanism.

Keywords

Dynamic modelsComplex mechanismsSymbolic formRobotsEMOCStructural system analysis
Type
Research Article
Information
Robotica , Volume 16 , Issue 1 , January 1998 , pp. 23 - 36
Copyright
© 1998 Cambridge University Press