Computer simulation of robot dynamics


Eroglu M.

ROBOTICA, vol.16, pp.615-621, 1998 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 16
  • Publication Date: 1998
  • Doi Number: 10.1017/s0263574798000617
  • Title of Journal : ROBOTICA
  • Page Numbers: pp.615-621

Abstract

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.