I personally use Matlab scrips to do it. Have ever tried?

In that case you got to manually describe all Lagrangian equations in terms of symbolic expressions so Matlab may solve them and give you back with a simplified one.

Wolfram Mathematica also allows you to achieve the same goals.

I haven't used Mathematica for that, but I tried Matlab; so how to organize the terms, associated with q'',q',q, to make/put it in the form M(q)q''+C(q,q')+G(q)=Q, for the documentation purposes. for like 3 or 4 dof.

Hi Amin, Mathematica is the option that I usually use and prefer. The syntax of mathematica and matlab is somehow similar. 

In order to get the system dynamics in the form you want, i.e.

M(q)q''+C(q,q')+G(q)=Q

You first need to obtain this differential equations using Newtonian or Lagrangian Mechanics. Then, using the symbolic manipulation package (Mathematica or Matlab), you take from the computed expression the coefficients of q'' term and this will construct your mass matrix M(q). In order to take the coefficient of an expression in Mathematica, you use the command Coefficient [ expr, var]. There should be a similar command in Matlab for that.

All the best,

Mohamed 

Hi,

I agree with Mohamed.

You can refer to the following publication:

Khalil: Wisama Khalil, Denis Creusot. SYMORO+: A SYSTEM FOR THE SYMBOLIC MODELLING

OF ROBOTS. Robotica, Cambridge University Press, 1997, 15, pp.153-161.,

available here

https://hal.archives-ouvertes.fr/file/index/docid/401687/filename/Symoro_Robotica.pdf

If you've the symbolic toolbox of Matlab, it worth testing it. I did it for a 3 DOF haptic interface (with and without SYMORO+).

Best

I did my own algorithm using Matlab Symbolic Math toolbox. However, for simplifying the model I used Visual Basic to deal with text manipulation.   I also used the SYMORO+  ( now it is free) .  SYMORO+  can give you different models; Kinematic, Identification, Dynamic .. etc.   In my opinion one should try SYMORO+  first.

 the newton-euler récursive model  ii easy to use for serial  robot. You can  write   your own program. Also you can, generate the terms of the matrix of  the equation of motion without any derivations.  see Wissama khalil

Thanks for all,

The book: Mechanisms and Robots Analysis with MATLAB®, also used to be helpful, specially for Matlab beginners.

I use Robotics Toolbox (Matlab) to teaching kinematics and dynamics of serial-link manipulators. 

want more about this open source, see link:

http://petercorke.com/Robotics_Toolbox.html