Development of a Hybrid Simulator for Robotic Manipulators.
Abstract
A real-time robot manipulator simulation capability has been developed. By programming the robot dynamics in the analog section of a SIMSTAR Hybrid Computer, the computational burden of digital integration techniques is avoided, and due to the analog nature of the model, the simulation can be run in real time without sacrificing accuracy. The ability to test analog and hybrid control schemes is also achieved through the development of an analog manipulator model on the SIMSTAR and because the SIMSTAR is both a digital and an analog computer. A hybrid controller contains an analog feedback portion to provide needed loop stiffness, and a digital feedforward portion to compensate for the changing dynamics of a robotic manipulator. The model is developed through a combination of previous research and experimental evaluation. Once programmed, the SIMSTAR model is validated using known trajectory/error data obtained from the AFIT PUMA 560.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 1987
- Accession Number
- ADA193119
Entities
People
- Peter M. Van Wirt
Organizations
- Air Force Institute of Technology