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

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dc.identifier.uri http://dx.doi.org/10.15488/11141
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/11226
dc.contributor.author Schappler, Moritz eng
dc.contributor.author Job, Tim-David eng
dc.contributor.author Ortmaier, Tobias eng
dc.contributor.editor Corless, Robert M.
dc.contributor.editor Gerhard, Jürgen
dc.contributor.editor Kotsireas, Ilias S.
dc.date.accessioned 2021-07-26T04:54:09Z
dc.date.available 2022-07-21T22:05:03Z
dc.date.issued 2021-07-20
dc.identifier.citation 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 eng
dc.identifier.isbn 978-3-030-81698-8
dc.description.abstract 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. eng
dc.language.iso eng eng
dc.publisher Cham : Springer
dc.relation.ispartof Maple in Mathematics Education and Research
dc.relation.ispartofseries Communications in Computer and Information Science ; 1414
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. eng
dc.subject Rigid body dynamics eng
dc.subject Robotics eng
dc.subject Symbolic code eng
dc.subject Toolchain eng
dc.subject Test-driven development eng
dc.subject Maple computer algebra system eng
dc.subject.classification Konferenzschrift ger
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau eng
dc.title A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots eng
dc.type bookPart eng
dc.type Text eng
dc.relation.doi 10.1007/978-3-030-81698-8_23
dc.description.version acceptedVersion eng
tib.accessRights frei zug�nglich


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