Title :
Simulation of cooperating robot manipulators on a mobile platform
Author :
Murphy, Steve H. ; Wen, John T. ; Saridis, George N.
Author_Institution :
Center for Intelligent Robotic Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
The dynamic equations of motion for two manipulators holding a common object on a freely moving mobile platform are developed. The full dynamic interactions from arms to platform and arm-tip to arm-tip are included in the formulation. The development of the closed chain dynamics allows for the use of any solution for the open topological tree of base and manipulator links. In particular, because the system has 18 degrees of freedom, recursive solutions for the dynamic simulation become more promising for efficient calculations of the motion. Simulation of the system is accomplished through a MATLAB program, and the response is visualized graphically using the SILMA Cimstation
Keywords :
control system analysis computing; digital simulation; dynamics; robots; MATLAB; SILMA Cimstation; closed chain dynamics; cooperating robot; digital simulation; manipulators; mobile platform; topological tree; Closed-form solution; Equations; Intelligent robots; MATLAB; Manipulator dynamics; Mobile robots; Orbital robotics; Tree graphs; Vehicle dynamics; Visualization;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126158