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Title: Simulation of robot manipulators

This paper describes Oak Ridge National Laboratory`s development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratories` Flexible Beam Testbed which is a one-Degree-Of-Freedom, flexible arm with a hydraulic base actuator. Initial results show good agreement between model and experiment.
Authors:
; ; ; ;
Publication Date:
OSTI Identifier:
34326
Report Number(s):
CONF-950232-26
ON: DE95008680; TRN: 95:008988
DOE Contract Number:
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: 6. American Nuclear Society meeting on robotics and remote systems, Monterey, CA (United States), 5-10 Feb 1995; Other Information: PBD: [1995]
Research Org:
Oak Ridge National Lab., TN (United States)
Sponsoring Org:
USDOE, Washington, DC (United States)
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; 99 MATHEMATICS, COMPUTERS, INFORMATION SCIENCE, MANAGEMENT, LAW, MISCELLANEOUS; MANIPULATORS; SIMULATORS; COMPUTER-AIDED DESIGN; MATHEMATICAL MODELS; TRAINING; ACTUATORS; REMOTE HANDLING; WASTE RETRIEVAL; ALGORITHMS; CONTROL EQUIPMENT