Accession Number:

ADA193119

Title:

Development of a Hybrid Simulator for Robotic Manipulators.

Descriptive Note:

Master's thesis,

Corporate Author:

AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING

Personal Author(s):

• Van Wirt, Peter M.

Report Date:

1987-12-01

Pagination or Media Count:

123.0

Abstract:

A real-time robot manipulator simulation capability has been developed. By programming the robot dynamics in the analog section of a SIMSTAR Hybrid Computer, the computational burden of digital integration techniques is avoided, and due to the analog nature of the model, the simulation can be run in real time without sacrificing accuracy. The ability to test analog and hybrid control schemes is also achieved through the development of an analog manipulator model on the SIMSTAR and because the SIMSTAR is both a digital and an analog computer. A hybrid controller contains an analog feedback portion to provide needed loop stiffness, and a digital feedforward portion to compensate for the changing dynamics of a robotic manipulator. The model is developed through a combination of previous research and experimental evaluation. Once programmed, the SIMSTAR model is validated using known trajectoryerror data obtained from the AFIT PUMA 560.

Descriptors:

• *HYBRID SIMULATION
• ACCURACY
• ANALOG COMPUTERS
• ANALOG SIMULATION
• CONTROL
• DIGITAL SYSTEMS
• DYNAMICS
• ERRORS
• FEEDBACK
• HYBRID COMPUTERS
• INTEGRATION
• LOOPS
• MANIPULATORS
• REAL TIME
• ROBOTICS
• ROBOTS
• SIMULATORS
• STIFFNESS
• TEST AND EVALUATION
• THESES
• TRAJECTORIES

Subject Categories:

• Computer Programming and Software

Distribution Statement:

APPROVED FOR PUBLIC RELEASE