Abstract: A Software package for the automated modeling of robotic dynamics has been developed which is based on an improved analytical (aumeric-symbolic) model algorithm. Motion equations of robot in analytical form are derived automatically by the computer, and the software can also generate real-time code of dynamic model automatically on the computer. The improved algorithm improves the optimal operation of the polynomial structure metrics of the dynamic model, and the modus for output real-time code is also simplified with much less intermediate variables which improves the operation speed and results in the minimization of number of floating-point multiplications/additions. The package also has a graphical interface used for real-time simulation and graphics rendering of robotic dynamics.

Key words: 动力学, 机器人