SYM-program environment for manipulator modeling, control and simulation

Abstract

SUMMARYThis paper describes the structure of the program package for manipulator modeling, control law synthesis and simulation SYM. While the underlying algorithms have been explained elsewhere, this paper puts emphasis on SYM as a program environment with both research and educational purposes. The control law synthesis in symbolic form, as well as system simulation, are given in more details since those features have been introduced into SYM recently. As an illustration we present few instances of SYM outputs which depict main steps in manipulator control system creation process: manipulator structure as a 3D scheme, control law definition form and system simulation results as 2D plots.

A generic kinematics software package

“…A package called SYM is reported in [5]. In SYM there is no provision for kinematic parameter tuning or calibration, and it supports only stick figures in graphics.…”