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.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 34326
- Report Number(s):
- CONF-950232-26; ON: DE95008680; TRN: 95:008988
- 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]
- Country of Publication:
- United States
- Language:
- English
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