A general simulation program for robot manipulator arm dynamics.
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Authors
McGalliard, Gene Richard
Subjects
robot
robotics
manipulator
lagrange dynamics
simulation
kinematics
robotics
manipulator
lagrange dynamics
simulation
kinematics
Advisors
Smith, David L.
Date of Issue
1984-09
Date
September 1984
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
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 an 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 provides evidence that additional work must be
accomplished in the area of solution iteration.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.