Computer algebra for real- time dynamics of robots with large numbers of joints

Bansevičius, Ramutis Petras; Čepulkauskas, Algimantas; Kulvietienė, Regina; Kulvietis, Genadijus

Use this url to cite publication: https://hdl.handle.net/20.500.14911/119636

Computer algebra for real- time dynamics of robots with large numbers of joints

Details

Publication Type (CRIS)

Straipsnis Web of Science duomenų bazėje / Article in Web of Science database (S1a)

Publication Type (eLABa)

Straipsnis Web of Science DB / Web of Science DB article (S1)

Author(s)

Author	Affiliation
Bansevičius, Ramutis Petras	Kauno technologijos universitetas
Čepulkauskas, Algimantas	Informacinių sistemų katedra / Department of Information Systems (1046)
Kulvietienė, Regina	Informacinių technologijų katedra / Department of Information Technologies (1047)
Kulvietis, Genadijus	Informacinių technologijų katedra / Department of Information Technologies (1047)

Title

Computer algebra for real- time dynamics of robots with large numbers of joints

[en]

Ramutis Bansevicius, Algimantas Cepulkauskas, Regina Kulvietiene, Genadijus Kulvietis

Is part of

Computational Science - ICCS 2004 : proceedings of the 4th international conference, Krakow, Poland, June 6-9, 2004. Part 4

Published In

Year	Start Page	End Page
2004	278	285

Publisher

Berlin : Springer, 2004

Publisher (trusted)

Springer

Referenced in Database(s)(DBs)

Zentralblatt MATH (zbMATH)

MatSciNet: Mathematical Reviews

INSPEC

ISI Web of Science

Extent

p. 278-285

URI

URI
https://hdl.handle.net/20.500.14911/119636

Science / Art Area

Technologijos mokslai / Technological sciences (T)

Field of Science / Art

Informatikos inžinerija / Informatics engineering (T007)

Mechanikos inžinerija / Mechanical Engineering (T009)

Abstract (en)

This paper deals with the description of a theoretical background of systematic computer algebra methods for analyzing the real-time dynamics of robots with a large numbers of joints. Many numerical methods based on different principles of mechanics were developed to obtain the equations that model the dynamic behavior of robots. In this paper, the efficiency of computer algebra application was compared with the most popular methods of forming the dynamic equations of robots in real time. To this end, the computer algebra system VIBRAN was used. A real-time dynamic model in closed form of the robots with large numbers of joints has been developed, using the computer algebra technique with the following automatic program code generation.