NDLI: ARM: An algebraic robot dynamic modeling program

Content Provider	IEEE Xplore Digital Library
Author	Murray, J. Neuman, C.
Copyright Year	1984
Description	Author affiliation: Carnegie-Mellon University, Pittsburgh, PA (Murray, J.)
Abstract	The computer program ARM (Algebraic Robot Modeler) has been implemented to generate symbolically the forward solution and complete Lagrangian dynamic robot model for control engineering applications. Development and application of this versatile dynamic modeling and control engineering tool are highlighted in this paper. The Q matrix formulation is employed to develop nested iterative algorithms for the symbolic computation of the inertial, centrifugal and Coriolis, and gravitational components of the Lagrangian dynamic robot model. The computational requirements are enumerated as functions of the number of degrees-of-freedom of the manipulator. Automatic generation of the centrifugal and Coriolis force vector dominates the computational load for both state-of-the-art and futuristic robots. The forward solution and complete dynamic model for the three degree-of-freedom positioning system of the Puma robot are exhibited to illustrate the capabilities of Arm. On-going enhancements to ARM are then summarized.
Starting Page	103
Ending Page	114
File Size	793764
Page Count	12
File Format	PDF
DOI	10.1109/ROBOT.1984.1087210
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1984-03-13
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Lagrangian functions Manipulator dynamics Robotics and automation Control engineering Application software Iterative algorithms Gravity Computational modeling Equations
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in