Efficient Dynamic Computer Simulation of Robotic Mechanisms

[+] Author and Article Information
M. W. Walker

Corporate Robot Design Engineering, Nordson Corporation, Amherst, Ohio

D. E. Orin

Department of Electrical Engineering, The Ohio State University, Columbus, Ohio

J. Dyn. Sys., Meas., Control 104(3), 205-211 (Sep 01, 1982) (7 pages) doi:10.1115/1.3139699 History: Received September 29, 1981; Online July 21, 2009


The Newton-Euler formulation of the equations of motion of an open-loop kinematic chain is used within a dynamic computer simulation of a robotic mechanism. Four different methods are presented for obtaining the joint variable accelerations given the joint positions, velocities, and input torques or forces. Each of these methods was programmed in FORTRAN and then executed on a CYBER 175 digital computer. This paper contains a comparison of the computational complexity of these methods and the execution time of the programs which implement them.

Copyright © 1982 by ASME
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