A general simulation program for robot manipulator arm dynamics.

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Author
McGalliard, Gene Richard
Date
1984-09Advisor
Smith, David L.
Metadata
Show full item recordAbstract
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.