Application of MACSYMA to Kinematics and Mechanical Systems
The objective of this paper is to illustrate that symbol manipulation systems can readily handle many of the typical symbolic calculations arising in the formulation of problems in kinematics and mechanical systems.
The paper consists of two parts. First, we discuss the use of MACSYMA in connection with the algebraic manipulations involved in transferring a body from one position to another in space, with particular reference to Rodrigues and Euler parameters and successive rotations, and an example involving quaternions. Second, we indicate how MACSYMA can be used to set up dynamical equations for the Stanford manipulator arm, and a spacecraft problem.
KeywordsSymbol Manipulation Dual Quaternion Euler Parameter Successive Rotation Rodrigues Parameter
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