Abstract
Robotic manipulators are complex (coupled and nonlinear) multi-variable mechanical systems that are designed to perform specific tasks. The versatile robot arm dynamic simulation tool VAST (Ref. 1) has been created to provide a user-friendly working environment in which to simulate and interpret the physical characteristics of robot and actuator dynamics and design and evaluate feedback controllers for robotic manipulators. The development and features of VAST are highlighted in this article. The simulator structure is flexible, versatile, and amenable to further development. The simulator has been designed to become the foundation of a robot-oriented CAD (computer-aided design) system.
The author expresses his appreciation to Michael S. Pfeifer for implementing VAST and to Professor Arthur C. Sanderson for making computational facilities available.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Pfeifer, M. S., and C. P. Neuman: “VAST: A Versatile Robot Arm Dynamic Simulation Tool,” Computers in Mechanical Engineering, 3 (3) 57–64, November 1984.
Lee, C. S. G.: “Robot Arm Kinematics, Dynamics, and Control,” Computer 15 (12) 62–80, December 1982.
Hollerbach, J. M.: “A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamic Formulation Complexity,” IEEE Trans, on Systems, Man, and Cybernetics SMC-lO(11) 730–736, November 1980.
Luh, J. Y. S., Walker, M. W., and R. P. C. Paul: “On-Line Computational Scheme for Mechanical Manipulators,” J. of Dynamic Systems, Measurement, and Control, 102 (2) 69–76, June 1980.
Walker, M. W., and D. E. Orin: “Efficient Dynamic Computer Simulation of Robotic Mechanisms,” J. of Dynamic Systems, Measurement, and Control, 104 (3) 205–211, September 1982.
Swartz, N. M.: “Arm Dynamics Simulation,” J. of Robotics Systems, 1 (1) 83–100, Spring 1984.
Khosla, P. K., and C. P. Neuman: “Computational Requirements of Customized Newton-Euler Algorithms,” J. of Robotic Systems, 2 (3) 309–327, 1985.
Neuman, C. P., and J. J. Murray: “Linearization and Sensitivity Functions of Dynamic Robot Models,” IEEE Trans, on Systems, Man, and Cybernetics, 14 (6) 805–818, November/December 1984.
Paul, R. P. C.: “Robot Manipulators: Mathematics, Programming, and Control,” MIT Press, Cambridge, Massachusetts, 1981.
Brady, M., et al. eds: “Robot Motion,” MIT Press, Cambridge, Massachusetts, 1982.
Luh, J. Y. S.: “An Anatomy of Industrial Robots and Their Controls,” IEEE Trans, on Automatic Control AC- 28 (2) 133–153, February 1983.
Murray, J. J., and C. P. Neuman: “ARM: An Algebraic Robot Dynamic Modeling Program,” in Proc. of the First IEEE Int’l. Conf. on Robotics (R.P.C. Paul, Ed), 103–114, Atlanta, Georgia, March 13–15, 1984.
Heginbotham, W. B., Ed.: “Industrial Robots of the World,” Industrial Robot 10 (3) 214–217, December 1983.
Kuo, B. C.: “Automatic Control Systems,” Prentice-Hall, Englewood Cliffs, New Jersey, 1982.
Stone, H. W., and C. P. Neuman: “Dynamic Modeling of a Three Degree-of-Freedom Robotic Manipulator,” IEEE Trans, on Systems, Man, and Cybernetics, 14 (4) 643–654, July/August 1984.
Tourassis, V. D., and C. P. Neuman: “Properties and Structure of Dynamic Robot Models for Control Engineering Applications,” Mechanism and Machine Theory, 20 (1) 27–40, 1985.
Rice, J. R.: “Numerical Methods, Software and Analysis,” McGraw-Hill, New York, 1983.
“UNIX Programmer’s Manual,” 7th Ed. (CMU Abridged), Bell Telephone Laboratories, Inc., Murray Hill, New Jersey, 1981.
Luh, J. Y. S.: “Conventional Controller Design for Industrial Robots—A Tutorial,” IEEE Trans. On Systems, Man, and Cybernetics SMC-13 (3) 298–316, May/June 1983.
Markiewicz, B. R.: “Analysis of the Computed Torque Drive Method and Comparison with Conventional Position Servo for a Computer-Controlled Manipulator,” Tech. Memorandum 33–601, Jet Propulsion Laboratory, Pasadena, California, March 1973.
Luh, J. Y. S., Walker, M. W and R. P. C. Paul: “Resolved-Acceleration Control of Mechanical Manipulators,” IEEE Trans, on Automatic Control AC-25 (3) 468–474, June 1980.
Bejezy, A. K.: “Robot Arm Dynamics and Control,” Tech. Memorandum 33–669, Jet Propulsion Laboratory, Pasadena, California, February 1974.
Carnahan, B., Luther, H. A., and J. O. Wilkes: “Applied Numerical Methods,” Wiley, New York, 1969.
Collatz, L.: “The Numerical Treatment of Differential Equations,” Springer-Verlag, Berlin, 1960.
Engelberger, J. F.: “Robotics in Practice,” Amacon Div. of American Management, New York, 1980.
Tourassis, V. D., and C. P. Neuman: “Robust Nonlinear Feedback Control for Robotic Manipulators,” IEE Proc. D: Control Theory and Applications. (Special issue on Robotics), 132 (4) 134–143, July 1985.
Tourassis, V. D., and C. P. Neuman: “Robust Feedback Control of an Articulated Robot: A Case-Study,” Proc. of 24th IEEE Conf. on Decision and Control, 1505–1509, Fort Lauderdale, Florida, December 11–13, 1985.
Lewis, R. A.: “Autonomous Manipulation on a Robot: Summary of Manipulator Software Functions,” Tech. Memorandum 33–679, Jet Propulsion Laboratory, Pasadena, California, March 1974.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1986 Chapman and Hall
About this chapter
Cite this chapter
Neuman, C.P. (1986). A Robot Dynamics Simulator. In: Considine, D.M., Considine, G.D. (eds) Standard Handbook of Industrial Automation. Chapman and Hall Advanced Industrial Technology Series. Springer, Boston, MA. https://doi.org/10.1007/978-1-4613-1963-4_18
Download citation
DOI: https://doi.org/10.1007/978-1-4613-1963-4_18
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4612-9166-4
Online ISBN: 978-1-4613-1963-4
eBook Packages: Springer Book Archive