Computer simulation of robot dynamics

Eroglu M.

ROBOTICA, cilt.16, ss.615-621, 1998 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 16
  • Basım Tarihi: 1998
  • Doi Numarası: 10.1017/s0263574798000617
  • Dergi Adı: ROBOTICA
  • Sayfa Sayıları: ss.615-621


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.