SYMTOM: an algebraic robotic manipulator modelling program

Abstract

A symbolic computation software package for a robotic manipulator has been developed using computer mathematics system MACSYMA. This software, SYMTOM, has the capabilities of solving symbolically dynamics, kinematics, and Jacobian matrix, and it is connected with the TOMCAT system developed by the authors as a CAD for a robotic manipulator. This new CAD system provides the most simplified symbolic solutions of dynamics and kinematics, which enables a designer to obtain the insight and the qualitative understanding of the kinematics and dynamics models, and develop the optimal computer codes for a numerical calculation. This CAD system will be a useful tool for designing an optimal robotic manipulator.<>