COMPUTATIONAL SCHEME FOR SIMULATING ROBOT MANIPULATORS.

Jack C K Chou, George Baciu, H. K. Kesavan

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

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.
Original languageEnglish
Title of host publication[No Source Information Available]
PublisherIEEE
Pages961-966
Number of pages6
ISBN (Print)0818607874
Publication statusPublished - 1 Jan 1987
Externally publishedYes
EventProceedings - 1987 IEEE International Conference on Robotics and Automation. - Raleigh, NC, United States
Duration: 1 Jan 1987 → …

Conference

ConferenceProceedings - 1987 IEEE International Conference on Robotics and Automation.
CountryUnited States
CityRaleigh, NC
Period1/01/87 → …

ASJC Scopus subject areas

  • Engineering(all)

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