Computer simulation of robot dynamics

被引：1
作者：
Eroglu, M [1 ]
机构：
[1] Gazi Univ, Fac Engn, Dept Mech Engn, TR-06570 Ankara, Turkey
来源：
ROBOTICA | 1998年 / 16卷
关键词：
computer simulation; robot dynamics; control strategies; manipulator model;
D O I：
10.1017/S0263574798000617
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：615 / 621
页数：7
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