Abstract
A new program for automatic symbolic derivation of robot kinematic equations was developed. The program, named SyK, is written in Pascal and can derive symbolic equations for robot position, orientation, angular and translational velocity, angular and translational acceleration, Jacobian and Hess matrices in backward and forward recursive form. It eliminates superfluous multiplications and additions in treating a specific robot manipulator. The main advantage of the program is its simple portability and notable efficiency. Symbolic equations for a desired quantity can be obtained in a few milliseconds (Micro VAX). The main disadvantage is that the kinematic equations obtained have a fixed recursive form. SyK is commercially available.
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