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- W78209462 abstract "Abstract This paper presents a new program package for the generation of control laws for robot manipulators in symbolic form. Since the computational efficiency of the generated control laws is extremely high, the real-time implementation become possible even on low-cost microcomputers. This program package represents an extension of the previously developed program package SYM which is designed to generate efficient manipulator models (Timcenko, Kircanski, Vukobratovic 1991). The basic algorithm belongs to the class of customized algorithms that reduce the computational burden by taking into account the specific characteristics of the manipulator to be controlled. It generates the high-level program code for computing various control laws based on inverse robot dynamics. The program code is highly optimized from the standpoint of numerical complexity. It represents a series of assignment statements with simple float variables and constants. Matrix and vector computations, loops, and conditional branches are avoided. The software modules for generation of various kinds of control laws as well as for simulation of robot moving along a defined path are incorporated into SYM software package and demonstrated in this paper. Generated models and control laws are implemented in several robot controllers designed to drive a 6 degrees of freedom robots." @default.
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- W78209462 date "1991-09-01" @default.
- W78209462 modified "2023-10-08" @default.
- W78209462 title "Program Package for Generation of Control Laws for Robot Manipulators in Symbolic Form" @default.
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- W78209462 doi "https://doi.org/10.1016/s1474-6670(17)51096-4" @default.
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