Abstract of the paper: "In recent years there has been a significant increase in the variety and complexity of Articulated-Multi-Body-Systems (AMBS) used for various applications. There is also increased interest in the model-based design-refinement and controller-development, which is critically dependent upon availability of underlying plant-models.
Kinematic and dynamic plant-models for AMBSs can be formulated by systematic application of physics postulates. This process, in its various variants, forms the basis of various mechanisms/robotics courses. However, the type and complexity of the example systems is often limited by the tractability of first generating and subsequently analyzing system equations of motion. Nonetheless, it should be noted that using simpler examples alone may sometimes fail to capture important physical phenomena (e.g. gyroscopic, coriolis). Hence, we examine the use of some contemporary symbolic- and numeric-computation tools to assist with the automated symbolic equation generation, sensitivity analysis and development of model based controllers to enhance various robotics courses..."
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Hrishi Shah, Sumit Tripathi, Leng-Feng Lee, and Venkat Krovi, "Role of Automated Symbolic Generation of Equations of Motion to Enhance Engineering Education", ASEE Computers in Education Journal Special Issue: Novel Approaches in Robotics Education, Vol 1, No.3, pp. 2-20, July-September 2010. [PDF]
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