Arm Dynamics Simulation
Tech. Report, CMU-RI-TR-82-17, Robotics Institute, Carnegie Mellon University, November, 1982
Abstract
The ability to mathematically model the movement of a robot manipulator is a prerequisite to the understanding of the key factors that influence a manipulator's performance. This paper presents a manipulator model which has been used to simulate and control a real robot arm. A method of describing the arm by its rotational characteristics, a set of equations called the Inverse Arm, and an algorithm called Forward Arm are presented. The Forward Arm simulates the movement of an arm, and the Inverse Arm provides a means of computing thc correct voltages to apply to an arm to achieve a desired movement.
BibTeX
@techreport{Swartz-1982-15136,author = {Neil M. Swartz},
title = {Arm Dynamics Simulation},
year = {1982},
month = {November},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-82-17},
}
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