SYM-program environment for manipulator modeling, control and simulation

The structure of SYM, a program package for manipulator modeling, control law synthesis, and simulation, is described. SYM's research and educational aims are emphasized. The control law synthesis in symbolic form and the system simulation are discussed in detail. Several examples of SYM outputs which depict the main steps in the manipulator control system creation process, namely, manipulator structure as a 3-D scheme, control law definition form, and system simulation results as 2-D plots are presented.<<ETX>>

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