Accession Number:

ADA126371

Title:

ARM (A Robot Manipulator) Dynamics Simulation.

Descriptive Note:

Interim rept.,

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s):

Report Date:

1982-11-23

Pagination or Media Count:

26.0

Abstract:

The ability to mathematically model the movement of a robot manipulator is a prerequisite to the understanding of the key factors that influence a manipulators performance. This paper presents a manipulator model which has been used to simulate and control a real robot arm. A method of describing the arm by its rotational characteristics, a set of equations called the Inverse Arm, and an algorithm called the Forward Arm are presented. The Forward Arm simulates the movement of an arm and the Inverse Arm provides a means of computing the correct voltages to apply to an arm to achieve a desired movement. Author

Subject Categories:

  • Theoretical Mathematics
  • Machinery and Tools

Distribution Statement:

APPROVED FOR PUBLIC RELEASE