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

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OriginalspracheEnglisch
Titel des SammelwerksMaple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers
UntertitelMaple in Mathematics Education and Research
Herausgeber/-innenRobert M. Corless, Jürgen Gerhard, Ilias S. Kotsireas
ErscheinungsortCham
Seiten350-364
Seitenumfang15
ISBN (elektronisch)978-3-030-81698-8
PublikationsstatusVeröffentlicht - 2021

Publikationsreihe

NameCommunications in Computer and Information Science
Band1414
ISSN (Print)1865-0929
ISSN (elektronisch)1865-0937

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.

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A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. / Schappler, Moritz; Job, Tim-David; Ortmaier, Tobias.
Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research. Hrsg. / Robert M. Corless; Jürgen Gerhard; Ilias S. Kotsireas. Cham, 2021. S. 350-364 (Communications in Computer and Information Science; Band 1414).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandBeitrag in Buch/SammelwerkForschungPeer-Review

Schappler, M, Job, T-D & Ortmaier, T 2021, A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. in RM Corless, J Gerhard & IS Kotsireas (Hrsg.), Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research. Communications in Computer and Information Science, Bd. 1414, Cham, S. 350-364. https://doi.org/10.15488/11141, https://doi.org/10.1007/978-3-030-81698-8_23
Schappler, M., Job, T.-D., & Ortmaier, T. (2021). A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. In R. M. Corless, J. Gerhard, & I. S. Kotsireas (Hrsg.), Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research (S. 350-364). (Communications in Computer and Information Science; Band 1414).. https://doi.org/10.15488/11141, https://doi.org/10.1007/978-3-030-81698-8_23
Schappler M, Job TD, Ortmaier T. A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. in Corless RM, Gerhard J, Kotsireas IS, Hrsg., Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research. Cham. 2021. S. 350-364. (Communications in Computer and Information Science). Epub 2021 Jul 20. doi: 10.15488/11141, 10.1007/978-3-030-81698-8_23
Schappler, Moritz ; Job, Tim-David ; Ortmaier, Tobias. / A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research. Hrsg. / Robert M. Corless ; Jürgen Gerhard ; Ilias S. Kotsireas. Cham, 2021. S. 350-364 (Communications in Computer and Information Science).
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