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A general simulation program for robot manipulator arm dynamics.

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Author
McGalliard, Gene Richard
Date
1984-09
Advisor
Smith, David L.
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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.
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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.
URI
http://hdl.handle.net/10945/19354
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  • 1. Thesis and Dissertation Collection, all items
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