A two-step algorithm for generating efficient manipulator models in symbolic form

An algorithm is presented for generating numerically efficient manipulator models in symbolic form, i.e., as computer programs written in a high-level language such as C or FORTRAN. The algorithm does its job in two main steps. First, a suboptimal symbolic model, which is the input for the second step, is generated. The first step has been explained in the authors' previous papers (1989). The main emphasis in this study is put on the second step: generating analytical expressions of output variables in the form of so-called structural matrices and their reconstruction into a program again. >