While several software packages exist for modeling and generating dynamic simulations of general manipulators, no software package simply and automatically provides forward and inverse kinematics which can be used in both real-time controllers and general-purpose simulations. The construction of such a tool is the objective of this project. This tool will provide a simple, reliable means of generating the forward kinematics, Jacobian, and inverse kinematics code for manipulators with any number of redundant degrees of freedom. Phase I will define the algorithms, the inputs and outputs, the internal language, and the simplification rules used by the kinematics development tool. The tool will be coded and further developed in Phase II.
Potential Commercial Applications:As a symbolic control system code generator, this tool's value will be recognized by the aerospace, nuclear military, and industrial sectors.STATUS: Project Proceded to Phase II
