A general simulation program for robot manipulator arm dynamics.

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.