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Browse Journals & Magazines > Education, IEEE Transactions ...> Volume:35 Issue:1 Help

Use of symbolic computation in robotics education

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2 Author(s)
Vira, N. ; Howard Univ., Wahington, DC, USA ; Tunstel, E.

An application of symbolic computation in robotics education is described. A software package is presented which combines generality, user interaction, and user-friendliness with the systematic usage of symbolic computation and artificial intelligence techniques. The software utilizes MACSYMA, a LISP-based symbolic algebra language, to automatically generate closed-form expressions representing forward and inverse kinematics solutions, the Jacobian transformation matrices, robot pose error-compensation models equations, and Lagrange dynamics formulation for N degree-of-freedom, open chain robotic manipulators. The goal of such a package is to aid faculty and students in the robotics course by removing burdensome tasks of mathematical manipulations. The software package has been successfully tested for its accuracy using commercially available robots

Published in:
Education, IEEE Transactions on  (Volume:35 ,  Issue: 1 )

Date of Publication: Feb 1992

Page(s):
18 - 30
ISSN :
0018-9359
INSPEC Accession Number:
4146262
Digital Object Identifier :
10.1109/13.123413
Product Type:
Journals & Magazines
Date of Current Version :
06 August 2002
Issue Date :
Feb 1992
Sponsored by :
IEEE Education Society

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