ARM (A Robot Manipulator) Dynamics Simulation.
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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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
- Theoretical Mathematics
- Machinery and Tools