Application of MACSYMA to Kinematics and Mechanical Systems

M. A. Hussain and B. Noble
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M. A. Hussain: General Electric Company, Corporate Research and Development
B. Noble: University of Wisconsin, Mathematics Research Center

Chapter 12 in Applications of Computer Algebra, 1985, pp 262-280 from Springer

Abstract: Abstract 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.

Keywords: Symbol Manipulation; Dual Quaternion; Euler Parameter; Successive Rotation; Rodrigues Parameter (search for similar items in EconPapers)
Date: 1985
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DOI: 10.1007/978-1-4684-6888-5_12

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