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Computer simulation of robot dynamics

Published online by Cambridge University Press:  05 April 2001

M. Eroglu
M. Eroglu
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Gazi University, 06570 Maltepe/ANKARATurkey. E-mail: meroglu@mikasa.mmf.gazi.edu.tr
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Abstract

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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.

Keywords

Computer simulationRobot dynamicsControl strategiesManipulator model
Type
Research Article
Information
Robotica , Volume 16 , Issue 6 , November 1998 , pp. 615 - 621
Copyright
© 1998 Cambridge University Press