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Computer-automated symbolic modeling of dynamics of robotic manipulators with flexible links

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2 Author(s)
Cetinkunt, Sabri ; Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA ; Ittoop, B.

Dynamic equations are developed in nonrecursive symbolic form for chain-structured robotic manipulators with compliant links. A program is developed in REDUCE to automate the symbolic expansion of these equations for any given chain-structured manipulator. The symbolic nonrecursive form of the dynamic model is particularly suitable for controller synthesis and real-time control implementations

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Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 1 )