Studying robot kinematics and dynamics with the aid of MATHEMATICA

M. C. Leu, Z. Ji, Y. S. Wang

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


Presented in this paper is the development of a computer program using MATHEMATICA as an instruction aid for teaching robotics. The overall functions and the structure of this developed program are discussed in detail with an example. This program is capable of deriving the kinematic and dynamic equations of robotic manipulators symbolically, and of generating numerical data and graphic display from the derived symbolic equations. Robotics instruction can be enhanced with this program by eliminating the time-consuming, error-prone process of manual derivation of equations and concentrating on the underlying principles.

Original languageEnglish (US)
Pages (from-to)213-228
Number of pages16
JournalInternational Journal of Mechanical Engineering Education
Issue number3
StatePublished - Jul 1991

All Science Journal Classification (ASJC) codes

  • Education
  • Mechanical Engineering


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