CODeMe

CODeMe is coded in C, consisting of 3 different programming levels, each level supports the higher levels. Let us briefly introduce them.

• Level 0. Consist of libraries for a pseudo-random number generator, matrix and vector operations and functions for pipe-based process communications, which provide support to higher levels.
• Level 1. Consist in the implementation of the kinematic and dynamic models, and the kinematic and dynamic control to simulate the mechanisms. The mathematical models and control schemes implemented on CODeMe. A brief description of the implemented models are presented as follows:
  • - Forward/Inverse kinematics. A general forward kinematic model for serial manipulator is implemented. The particular implementation of the anthropomorphic serial manipulator and the two-link planar manipulator. The inverse kinematics for the parallel Delta manipulator is implemented.
  • - Differential kinematics models. The forward and inverse differential kinematics are implemented based on the solution of the system of equations. A general algorithm to compute the Jacobian matrix for a serial manipulator is implemented. The particular implementation for the anthropomorphic serial manipulator, the two-link planar manipulator and the parallel Delta manipulator.
  • - Dynamic models. The implementation receives the inertial matrix for each link and the inertial reference position of each link, which are used to compute the complete inertial matrix, the Coriolis matrix and the gravitational vector. The forward and inverse dynamics are implemented based on the solution of the system. A general dynamic model for serial manipulators is implemented. The particular dynamic implementations for the two-link 2-DOF planar manipulator and the counterweighted two-link 2-DOF planar manipulator were carried out.
• Level 2. In this last level, the optimization methods and objective functions are implemented. The optimization methods used are the ones presented in Chapter 4 and the source codes are provided on the web page of the corresponding authors. The implemented objective functions are presented in Chapter 5.

Documents

Botello-Aceves, S. (2016). Concurrent Design Optimization of Kinematically Complex Mechanisms (Unpublished doctoral thesis). Center for Research in Mathematics, Guanajuato, Gto., Mexico.