Abstract
The kinematic and dynamic equations are important for analysis and synthesis of robot arms. These equations are calculated manually till now. In recent years, the combination of links becomes complex and joint variables increase in number. Therefore the designer must spend much time on calculating two equations by hands. Then the computer aided design system is indispensable. This paper presents a new CAD system, RACER (Robot Algebraic Computation system using Reduce), which is developed by using the functional language LISP and symbolic manipulation system REDUCE3.2.RACER consists of many functions for the two equations and the facilities of computer graphics in addition. The former is written by LISP and the later by FORTRAN and C-language. However all functions and facilities are interactive. Then user can operate this system without the knowledge of computer languages, LISP, FORTRAN and C-language and understand the complex results visually by computer graphics.
Published Version
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