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manipulator model

Robotica (1)

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Computer simulation of robot dynamics
M. Eroglu
Journal:

Robotica / Volume 16 / Issue 6 / November 1998

Published online by Cambridge University Press:

05 April 2001, pp. 615-621
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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.