Modeling, analysis, and graphical visualization of a dual robot arm system: A pc based environment

This project developed a program written using Borland's C/C++ version 4.5 to be operated on IBM compatible personal computers using Microsoft Windows version 3.1. The program simulates dual Unimate PUMA 560 six-link robot arms moving a load. The robot dynamics include link inertial, centrifugal and Coriolis effects, as well as motor inertial and fictional effects. The robot arms are controlled using an inverse dynamics inner/outer loop control law and can accommodate structured inner loop uncertainty. The program's structure has three modules; program user interface, simulation module and graphics module. A user operates the program in the user interface module using pull down menus. The simulation module contains the routines for the robot dynamics, kinematics, control laws, integration algorithms, and trajectory generator. The data plot and three dimensional animation routines are in the graphics module. The program user interface provides Windows' style pull down menus to manipulate simulation parameters. Using these menus users can define load data and trajectory waypoints. Control system parameters associated with the inner and outer feedback loops are accessible to the user. Additional menus allow the user to select how the graphics module will display simulation results. Output format options include numerical listings, data plots, or three dimensional animation. The simulator has an on-line help/instruct facility to assist users running the program and learning fundamentals associated with the dual robotic arm system.