NDLI: Simulation of the dynamics of an industrial robot

Content Provider	IEEE Xplore Digital Library
Author	Inigo, R.M. Morton, J.S.
Copyright Year	1963
Abstract	The authors describe the design, dynamical analysis, and control simulation of an industrial robot manipulator. The choice of links and motors is explained in practical terms. Dynamics modeling is done in terms of the Lagrange-Euler formulation. Proportional-integral-differential and computed-torque-controllers are then used to simulate the control of the arm. Simulation results are provided for different parameters values and different control commands. A complete overview of the design, dynamic modeling, and control of a robot manipulator such as the one presented by the authors should be of benefit for undergraduate students, because many do not have a formal course on robotics in their curriculum.<>
Sponsorship	IEEE Education Society
Starting Page	89
Ending Page	99
Page Count	11
File Size	670528
File Format	PDF
ISSN	00189359
Volume Number	34
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1991-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Service robots Computational modeling Educational robots Manipulator dynamics Analytical models Industrial control Lagrangian functions Pi control Proportional control Robot control
Content Type	Text
Resource Type	Article
Subject	Education Electrical and Electronic Engineering

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Simulation of the dynamics of an industrial robot