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Computer simulation of robot dynamics

Published online by Cambridge University Press:  05 April 2001

M. Eroglu
M. Eroglu
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Gazi University, 06570 Maltepe/ANKARA Turkey. E-mail: meroglu@mikasa.mmf.gazi.edu.tr
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Abstract

This paper contains the result of a computer simulation of the dynamic performance of a manipulator. Provision is made in the program developed to represent the manipulator in either a redundant or non-redundant form. The models derived are used in simulation studies to evaluate the dynamic behaviour of the process when subjected to different control strategies for a range of operational tasks. The dynamic manipulator model presented is derived from the laws of Newtonian and Lagrangian Mechanics.

Keywords

Computer simulationRobot dynamicsControl strategiesManipulator model

Information

Type
Research Article
Information
Robotica , Volume 16 , Issue 6 , November 1998 , pp. 615 - 621
Copyright
© 1998 Cambridge University Press

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