A Three-Dimensional Nonsingular Simulation of Rigid Manipulators
Abstract
Robot manipulators have been studied, using various approaches to obtain the kinematic and dynamic equations which describe their motion. Conventional body-oriented robot arm kinematic equations have the disadvantage that a singular condition occurs when two successive links of the manipulator are aligned. When this occurs, the jacobian matrix which relates the end effector motion to the joint angle variations becomes singular and is not invertible, resulting in motion that can not be simulated. This thesis extends the previous work done in the investigation of a nonsingular Newton Euler approach to forward dynamic equations interpreted in a global (inertia) fixed reference frame. Specifically, the previous results are extended into validation of the approach for three-dimensional motion, including gravitational effects. In addition, the comparison and verification of the motion of an actual robotic manipulator to the simulation is investigated. Keywords: Computer program verification, Pressure transducers, Mechanical engineering.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 1988
- Accession Number
- ADA201964
Entities
People
- Robert M. Verbos
Organizations
- Naval Postgraduate School