Details
| Original language | English |
|---|---|
| Title of host publication | Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers |
| Subtitle of host publication | Maple in Mathematics Education and Research |
| Editors | Robert M. Corless, Jürgen Gerhard, Ilias S. Kotsireas |
| Place of Publication | Cham |
| Pages | 350-364 |
| Number of pages | 15 |
| ISBN (electronic) | 978-3-030-81698-8 |
| Publication status | Published - 2021 |
Publication series
| Name | Communications in Computer and Information Science |
|---|---|
| Volume | 1414 |
| ISSN (Print) | 1865-0929 |
| ISSN (electronic) | 1865-0937 |
Abstract
A new Maple toolchain for generating rigid body dynamics in symbolic form for robot manipulators is presented. The peculiarity compared to existing tools lies in the framework of Bash scripts controlling the full workflow of the toolchain with a high degree of automation. The optimized Matlab code generated by Maple is automatically converted to function files with proper documentation and input assertions. This renders manual post-processing of the results unnecessarily. The focus of the paper is on the implemented unit-testing framework according to the method of test-driven development. By providing the test framework together with the generated code in a stand-alone version, a good test coverage and a good software quality can be achieved. The results of the open source project provide a basis for dynamics simulations for robot dimensional synthesis or in model-based control of robot manipulators in research or in industrial context. The general software approach can be applied to other fields where theoretical models are derived with Maple.
Keywords
- Maple computer algebra system, Rigid body dynamics, Robotics, Symbolic code, Test-driven development, Toolchain
ASJC Scopus subject areas
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Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research. ed. / Robert M. Corless; Jürgen Gerhard; Ilias S. Kotsireas. Cham, 2021. p. 350-364 (Communications in Computer and Information Science; Vol. 1414).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots
AU - Schappler, Moritz
AU - Job, Tim-David
AU - Ortmaier, Tobias
N1 - Funding Information: This work was developed over five years using funding from the German Research Foundation (DFG, grant 341489206), the Federal Ministry of Education and Research of Germany (BMBF, grant 16SV6175) and the European Union?s Horizon 2020 research and innovation programme (grant 688857).
PY - 2021
Y1 - 2021
N2 - A new Maple toolchain for generating rigid body dynamics in symbolic form for robot manipulators is presented. The peculiarity compared to existing tools lies in the framework of Bash scripts controlling the full workflow of the toolchain with a high degree of automation. The optimized Matlab code generated by Maple is automatically converted to function files with proper documentation and input assertions. This renders manual post-processing of the results unnecessarily. The focus of the paper is on the implemented unit-testing framework according to the method of test-driven development. By providing the test framework together with the generated code in a stand-alone version, a good test coverage and a good software quality can be achieved. The results of the open source project provide a basis for dynamics simulations for robot dimensional synthesis or in model-based control of robot manipulators in research or in industrial context. The general software approach can be applied to other fields where theoretical models are derived with Maple.
AB - A new Maple toolchain for generating rigid body dynamics in symbolic form for robot manipulators is presented. The peculiarity compared to existing tools lies in the framework of Bash scripts controlling the full workflow of the toolchain with a high degree of automation. The optimized Matlab code generated by Maple is automatically converted to function files with proper documentation and input assertions. This renders manual post-processing of the results unnecessarily. The focus of the paper is on the implemented unit-testing framework according to the method of test-driven development. By providing the test framework together with the generated code in a stand-alone version, a good test coverage and a good software quality can be achieved. The results of the open source project provide a basis for dynamics simulations for robot dimensional synthesis or in model-based control of robot manipulators in research or in industrial context. The general software approach can be applied to other fields where theoretical models are derived with Maple.
KW - Maple computer algebra system
KW - Rigid body dynamics
KW - Robotics
KW - Symbolic code
KW - Test-driven development
KW - Toolchain
UR - http://www.scopus.com/inward/record.url?scp=85113551416&partnerID=8YFLogxK
U2 - 10.15488/11141
DO - 10.15488/11141
M3 - Contribution to book/anthology
SN - 978-3-030-81697-1
T3 - Communications in Computer and Information Science
SP - 350
EP - 364
BT - Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers
A2 - Corless, Robert M.
A2 - Gerhard, Jürgen
A2 - Kotsireas, Ilias S.
CY - Cham
ER -