Title

Computer Graphic Simulation of Robot Kinematics and Dynamics

Abstract

Robot simulation programs have been developed using computer graphics. Two levels of simulation are possible: one is based only on kinematics and the other based on both kinematics and dynamics. In the simulation, each robot link is generated as a graphic object with a coordinate frame assigned to it. The position and orientation of the object is described by a series of translation and rotation transformations with respect to a referenced graphics coordinate frame. In the case manipulator dynamics is also of concern, constraints on the joint velocity, acceleration, and force/torque are imposed. A simple method is devised to plan the robot motion for minimizing the travel time without violating the joint constraints. It scales down the velocities and accelerations of the fast moving joints so as to minimize the required joint forces/torques.

Meeting Name

Robots 8

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Computer Graphics; Dynamics; Kinematics

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1984 Robotics Institute of SME, All rights reserved.

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