SIMULATION OF THE DYNAMICS OF AN INDUSTRIAL ROBOT

被引：10

作者：

INIGO, RM

MORTON, JS

机构：

[1] Department of Electrical Engineering, School of Engineering and Applied Science, University of Virginia, Charlottesville

[2] Department of Systems Engineering, Sperry Marine, Inc., Charlottesville, VA

来源：

IEEE TRANSACTIONS ON EDUCATION | 1991年 / 34卷 / 01期

关键词：

D O I：

10.1109/13.79887

中图分类号：

G40 [教育学];

学科分类号：

040101 ; 120403 ;

摘要：

This paper describes the design, dynamical analysis, and control simulation of an industrial robot manipulator. The choice of links and motors is explained in practical terms. Dynamics modeling is done in terms of the Lagrange-Euler formulation. Proportional-integral-differential and computed-torque-controllers are then used to simulate the control of the arm. Simulation results are provided for different parameters values and different control commands. A complete overview of the design, dynamic modeling, and control of a robot manipulator such as the one presented in this paper should be of benefit for undergraduate students, because many do not have a formal course on robotics in their curriculum.

引用

页码：89 / 99

页数：11

共 8 条

[1]

Asada H., 1986, ROBOT ANAL CONTROL

[2]

CRAIG J, 1986, INTRO ROBOTICS

[3]

Denavit J., 1955, J APPL MECH, V22, P215

[4]

FU KS, 1987, ROBOTICS

[5] A RECURSIVE LAGRANGIAN FORMULATION OF MANIPULATOR DYNAMICS AND A COMPARATIVE-STUDY OF DYNAMICS FORMULATION COMPLEXITY [J].

HOLLERBACH, JM .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1980, 10 (11) :730-736

[6]

MOYA M, 1986, ROBOTICS, V3, P329

[7]

Paul R. P., 1981, ROBOT MANIPULATORS M

[8]

UICKER JJ, 1965, THESIS NW U EVANSTON

← 1 →