A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots

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Schappler, M.; Job, T.D.; Ortmaier T.: A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. In: Corless, R.M.; Gerhard, J.; Kotsireas, I.S. (Eds.): Maple in Mathematics Education and Research. Cham : Springer, 2021 (Communications in Computer and Information Science ; 1414), S. 350-364. DOI: https://doi.org/10.1007/978-3-030-81698-8_23

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A new Maple toolchain for generating rigid body dynamics in symbolic form for robot manipulators is presented. The peculiarity compared to existing tools lies in the framework of Bash scripts controlling the full workflow of the toolchain with a high degree of automation. The optimized Matlab code generated by Maple is automatically converted to function files with proper documentation and input assertions. This renders manual post-processing of the results unnecessarily. The focus of the paper is on the implemented unit-testing framework according to the method of test-driven development. By providing the test framework together with the generated code in a stand-alone version, a good test coverage and a good software quality can be achieved. The results of the open source project provide a basis for dynamics simulations for robot dimensional synthesis or in model-based control of robot manipulators in research or in industrial context. The general software approach can be applied to other fields where theoretical models are derived with Maple.
License of this version: Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden.
Document Type: bookPart
Publishing status: acceptedVersion
Issue Date: 2021-07-20
Appears in Collections:Fakultät für Maschinenbau

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1 image of flag of Germany Germany 18 81.82%
2 image of flag of Vietnam Vietnam 3 13.64%
3 image of flag of United States United States 1 4.55%

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