An Alternative Method for Formulating Closed-Form Dynamics for Elastic Mechanical Systems Using Symbolic Process*

摘要

In this paper an alternative method of formulating the equations of motion and using a computer-aided symbolic method for modeling of elastic mechanical systems is presented. The formalism is derived from the principle of virtual work and cast in an expanded and closed form. Symbolic generation of nonlinear closed-form equations of motion and their linearization are discussed. Symbolic equations for two examples are generated using the above method. Numerical results and comparison between full nonlinear and linearized robot models are presented