Computer simulation of robot dynamics

Authors:
M. Eroglu
Affiliations:
Department of Mechanical Engineering, Faculty of Engineering, Gazi University, 06570 Maltepe/ANKARA Turkey. E-mail: meroglu@mikasa.mmf.gazi.edu.tr
Venue:
Robotica
Year:
1998

Citing 6
Cited 0

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Fundamentals of Robotics: Analysis and Control
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Fundamentals for Control of Robotic Manipulators
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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.