This paper presents the software package SYMORO+ for the automaticsymbolic modelling of robots. This package permits to generate the directgeometric model, the inverse geometric model, the direct kinematic model, theinverse kinematic model, the dynamic model, and the inertial parametersidentification models.

The structure of the robots can be serial, treestructure or containing closed loops. The package runs on Sun stations and PCcomputers, it has been developed under MATHEMATICA and Clanguage. In this paper we give an overview of the algorithms used in thedifferent models; the computational cost of the dynamic models of the PUMArobot are given.