A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots
| Autor: | Schappler, Moritz, Job, Tim-David, Ortmaier, Tobias, Corless, Robert M., Gerhard, Jürgen, Kotsireas, Ilias S. |
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| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Computer science
Code coverage Dewey Decimal Classification::600 | Technik::620 | Ingenieurwissenschaften und Maschinenbau engineering.material computer.software_genre Toolchain Software Konferenzschrift Maple Programming language business.industry Parallel manipulator Rigid body dynamics Robotics Test-driven development Software quality engineering Maple computer algebra system Robot Symbolic code ddc:620 business computer |
| Zdroj: | Communications in Computer and Information Science ISBN: 9783030816971 MC Maple in Mathematics Education and Research Communications in Computer and Information Science ; 1414 |
| DOI: | 10.15488/11141 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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