SYM-program environment for manipulator modeling, control and simulation

The structure of SYM, a program package for manipulator modeling, control law synthesis, and simulation, is described. SYM's research and educational aims are emphasized. The control law synthesis in symbolic form and the system simulation are discussed in detail. Several examples of SYM output...

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Hauptverfasser: Timcenko, A., Kircanski, N., Urosevic, D., Vukobratovic, M.
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Kircanski, N.
Urosevic, D.
Vukobratovic, M.
description The structure of SYM, a program package for manipulator modeling, control law synthesis, and simulation, is described. SYM's research and educational aims are emphasized. The control law synthesis in symbolic form and the system simulation are discussed in detail. Several examples of SYM outputs which depict the main steps in the manipulator control system creation process, namely, manipulator structure as a 3-D scheme, control law definition form, and system simulation results as 2-D plots are presented.< >
doi_str_mv 10.1109/ROBOT.1991.131744
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subjects Computational modeling
Control system synthesis
Inverse problems
Manipulators
Operating systems
Packaging
Robot control
Robot sensing systems
Robotic assembly
Software libraries
title SYM-program environment for manipulator modeling, control and simulation
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