Rongdong Wang

Publication Date


Document Type


First Advisor

Woo, Peng-Yung

Degree Name

M.S. (Master of Science)

Legacy Department

Department of Electrical Engineering


Robots--Computer programs; Programming languages (Electronic computers); MAPLE (Computer program language)


Kinematics, Jacobian and dynamics are very important subjects in the study of robotics and control. In the past two decades, various methods for deriving forward kinematics, Jacobians and dynamic equations of robotic manipulators have been developed. However, due to the nature of the problem, these derivations are complicated, tedious and error-prone. Recently, many researchers investigated automatic derivations of these equations and formulas. This thesis studies computer aided symbolic automatic derivation of kinematics, Jacobians and dynamic equations of robotic manipulators. The powerful symbolic language MAPLE is used to attack the problem. Also, newer, better methods are used to develop algorithms for these derivations. The Newton-Euler method is used instead of the traditional Lagrangian method to derive dynamic equations of robotic manipulators. In order to save computing time and computer memory, some inovative techniques are developed. Three programs have been written to automaticly derive forward kinematics, Jacobians and the dynamic equations of manipulators, respectively. The programs are succinct and easy to use. Most important of all, they can be applied to robotic manipulators with any degree of freedom.


Includes bibliographical references (pages [81]-85)


viii, 85 pages




Northern Illinois University

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