Symbolic Computation Techniques for Multibody Model Development and Code Generation

This paper presents some of the benefits of a general purpose symbolic computation environment when constructing and generating simulation code for multibody, multidomain systems. Specifically, it considers how tools provided by these environments can be harnessed to generate highly efficient simulation code. MapleSim, a modeling and simulation platform that is based on the Maple symbolic computation engine is used as the investigative tool. As a case study, different approaches to an inverse dynamics solution of a Stewart-Gough platform are modeled and exported to C-code for simulation and timing. Chad Schmitke, Paul Goossens