ARM (A Robot Manipulator) Dynamics Simulation.

Abstract

The ability to mathematically model the movement of a robot manipulator is a prerequisite to the understanding of the key factors that influence a manipulator's performance. This paper presents a manipulator model which has been used to simulate and control a real robot arm. A method of describing the arm by its rotational characteristics, a set of equations called the Inverse Arm, and an algorithm called the Forward Arm are presented. The Forward Arm simulates the movement of an arm and the Inverse Arm provides a means of computing the correct voltages to apply to an arm to achieve a desired movement. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Nov 23, 1982
Accession Number
ADA126371

Entities

People

  • Neil M. Swartz

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Angular Acceleration
  • Computer Programs
  • Control
  • Control Systems
  • Coordinate Systems
  • Differential Equations
  • Equations
  • Geometry
  • Manipulators
  • Mechanical Drawing
  • Military Research
  • Moment Of Inertia
  • Robotics
  • Simulations
  • Three Dimensional
  • Universities

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • International Relations and European Studies
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy