DocumentCode
385055
Title
Computational scheme for simulating robot manipulators
Author
Chou, Jack C K ; Baciu, George ; Kesavan, H.K.
Author_Institution
University of Waterloo, Waterloo, Ontario, Canada
Volume
4
fYear
1987
fDate
31837
Firstpage
961
Lastpage
966
Abstract
A set of mixed differential and algebraic equations (DAEs) which arises in the simulation of a robot manipulator is solved simultaneously using implicit integration. The dimension of the DAEs which have to be solved by LU factorization at each integration step can be reduced to the number of degrees of freedom by exploring the special structure of the Jacobian matrix of DAEs. The independent and dependent generalized coordinates are determined directly from the system topology. The simulation of a 6-R manipulator is given as an example.
Keywords
Computational modeling; Differential algebraic equations; Differential equations; Gaussian processes; Jacobian matrices; Linear systems; Manipulators; Nonlinear equations; Robot kinematics; Topology;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1087926
Filename
1087926
Link To Document