Dynamic control is one of the methods which enable quick and accurate motion of robot arms. However, this method has been rarely applied to industrial robots. One reason is that dynamic control has been difficult to be performed real time by using presently available processors since it requires huge amount of computation. Described in this paper is an optimizing compiler which can automatically generate an efficient program for dynamic control computation of robot arms. Source program, which can be developed with an algebraic computation system like REDUCE, is given as symbolic equations. The optimizing compiler transforms the equations into a set of statements which has a possible simple form of computation. The method is based on the factorization algorithms proposed by authors. After that, the optimized statements are encoded by C Language and arranged for an object program. The optimizing compiler is designed according to an object oriented approach. The effectiveness of the optimizing compiler is also shown through experiments.
