Newsgroups: comp.robotics
Path: brunix!uunet!sun-barr!ames!ads.com!dgaw
From: dgaw@ADS.COM (David Gaw)
Subject: wanted: code for manipulator kinematics/dynamics
Message-ID: <1992Jun10.224843.8834@ads.com>
Sender: usenet@ads.com (USENET News)
Organization: Advanced Decision Systems, Mtn. View, CA (415) 960-7300
Distribution: usa
Date: Wed, 10 Jun 1992 22:48:43 GMT
Lines: 13



does anyone have a tool (e.g.,Mathematica code)
for modeling kinematics and dynamics (in terms of force or acceleration)
for a multi-link acuator ? What I would like is something which
allows me to define actuator geometry, masses, etc. and which will produce
inverses for motion control purposes (ideally in terms of joint torques).
This is a simple actuator (3-DOF), mostly in 2D so the package does not have to
be that powerful. Any pointers helpful.

Thanks,
David.

