PSDM

Pseudo-Symbolic Dynamic Modelling matlab package.

The README for this codebase is posted as a PDF, please see the file README.pdf.

PSDM is a numerical method of deriving the equations of motion of an arbitrary rigid body chain, in regressor form. It is an alternative means of deriving the equations of motion for a rigid, serial kinematic chain. The result is a numerically represented model in a highly organized form, which allows for many symbolic manipulations through numerical methods. This allows for

• The generation of very fast real time code.
• Automatic model simplification (to achieve faster evaluation times)
• Both forward and inverse dynamic modelling in a single derivation and with the same inertial parameter set.

Requirements

This codebase requires a Matlab environment of R2018a, or newer. Additionally:

• The Matlab Symbolic Toolbox is used in some of the example live scripts to illustrate some of the derivation results. This toolbox must be installed to run these code snippets.
• Matlab Coder is required to leverage the code-generation capabilities built into this toolbox (see Section 3 the PDF README).
• The derivation process can also leverage parallel processing, if the Matlab Parallel Computing Toolbox is installed. See Section 3 of the PDF README for details on this.

Credit

If you use our work, we ask that you cite us appropriately in any work.

[1] S. Lloyd, R. Irani, and M. Ahmadi, “A numeric derivation for fast regressive modeling of manipulator dynamics,” Mech. Mach. Theory, vol. 156, p. 104149, Feb. 2021.

This work can be accessed via its doi at 10.1016/j.mechmachtheory.2020.104149. A preprint version of this work is included in this repository, see SLloydEtAl2021_PSDM.pdf

MECC 2022 Conference Supplementary Material

A paper describing the usage of PSDM on a Denso 6556W manipulator has been accepted for publication in the MECC 2022 conference. Supplementary material for this publication is provided in the directory supplementary_material_MECC2022.

Contact

Author: Steffan Lloyd (Steffan.Lloyd@carleton.ca).