ARMS:A Modelling Programme System for Open Chain Robots

A computer programme system ARMS(Automatic Robot Modelling System)in FORTRAN is highlighted in this paper.With known robot configuration,ARMS can autom-atically generate symbolically the forward kinematic solution,Joeobian Matrix,Complete lagrangian dynamic model,simplified dynamic model with given precision,and the FO-RTRAN programme for the computation of dynamic equations.The speed of ARMS ismuch higher than ARM.In order to compare with the capabilities of ARMS,wegive also the forward solution,Jocobian Matrix and Complete dynamic model for the positioning system of STANFORD on known structure parameters.