A Generalized Newton-Euler Algorithm for Dynamic Simulation of Robot-Manipulators with Revolute Joints
Journal Title: RECENT - Year 2013, Vol 14, Issue 38
Abstract
This article describes a procedure used to compose a set of second order differential equations in order to simulate dynamics of a multi-body manipulator's arm with revolution joints. The procedure is based on d'Alambert's principle and Newton-Euler equations, and considers each of the manipulator’s links as in equilibrium under a multitude of inertial, gravitational and driving forces in the process of its spatial motion. The method is straightforward and is based on the repeatability of mathematical operations. The derived set of differential equation are easy to program and could be integrated using standard routines. They also can be used to solve forward, as well as reverse dynamic problems. The algorithm is verified by comparative studies using well known simulation packages as well as experimental data. It can be very successfully applied on the stage of design when not all dynamic parameters of the new device are sufficiently known.
Authors and Affiliations
Bozhidar GRIGOROV
Keywords
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