Some choices related to the design and implementation of computer programs for the kinematic modelling and simulation of mechanisms and manipulators are discussed, including global versus modular modelling features, numeric versus symbolic computation, and precompiler versus interpreter implementation. Within this framework, two original applications are presented: first, a program for modelling spatial single-loop robot arms that works as a precompiler of manipulators and reaches an automatic, symbolic, closed-form solution to the inverse position analysis; and second, an approach to friendly training in computer-aided mechanism design through hypertext. Various examples of implementations are given. © 1989.
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