A General Simulation Program for Robot Manipulator Arm Dynamics.

Abstract

A computer program is presented which implements a recursive Lagrange formulation of open-loop kinematic chain equations of motion for the purpose of providing a generalized dynamic model of robot manipulator arms. The dynamic model was verified against results known for a PUMA arm, obtaining joint accelerations given current positions, velocities, and torques. The FORTRAN program was executed on an IBM 3033 digital computer and can accommodate most physical robotic configurations. Additionally, an attempt has been made to simulate manipulator motion using the verified model and previously published integration methods. Comparison of simulation results against known results provide evidence that additional work must be accomplished in the area of solution iteration. Originator supplied keywords include: Robot; Robotics; Manipulator; Lagrange dynamcs; Simulation; Kinematics; Computer graphics; Theses. (Author).

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1984
Accession Number
ADA152121

Entities

People

  • G. R. Mcgalliard

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Space

DTIC Thesaurus Topics

  • Analog Computers
  • Angular Acceleration
  • Computational Science
  • Computer Programming
  • Computer Programs
  • Computer Simulations
  • Computers
  • Control Simulators
  • Engineering
  • Engineers
  • Equations
  • Equations Of Motion
  • Jet Propulsion
  • Mechanical Engineering
  • Numerical Analysis
  • Simulators
  • Time

Readers

  • Computer Science.
  • Robotics and Automation.
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy