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SYM-program environment for manipulator modeling, control and simulation

Published online by Cambridge University Press:  09 March 2009

Aleksandar Timčenko ,
Nenad Kirćanski ,
Dragan Urošević  and
Miomir Vukobratović
Aleksandar Timčenko
Affiliation:
Columbia University, New York, NY (USA).
Nenad Kirćanski
Affiliation:
Mihailo Pupin Institute, Volgina 15, 11000 Beograde (Yugoslavia).
Dragan Urošević
Affiliation:
Mihailo Pupin Institute, Volgina 15, 11000 Beograde (Yugoslavia).
Miomir Vukobratović
Affiliation:
Mihailo Pupin Institute, Volgina 15, 11000 Beograde (Yugoslavia).
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Summary

This paper describes the structure of the program package for manipulator modeling, control law synthesis and simulation SYM. While the underlying algorithms have been explained elsewhere, this paper puts emphasis on SYM as a program environment with both research and educational purposes. The control law synthesis in symbolic form, as well as system simulation, are given in more details since those features have been introduced into SYM recently. As an illustration we present few instances of SYM outputs which depict main steps in manipulator control system creation process: manipulator structure as a 3D scheme, control law definition form and system simulation results as 2D plots.

Type
Article
Information
Robotica , Volume 10 , Issue 2 , March 1992 , pp. 147 - 153
Copyright
Copyright © Cambridge University Press 1992

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