Dynamic simulation of robot manipulators

Graduation date: 1985A program has been written to investigate the\ud dynamics of robot manipulators during task execution.\ud The program simulates robot motion along a path specified\ud by the user. A smooth trajectory is generated by\ud interpolation in joint space. Forces and torques on\ud actuators are calculated at intermediate points, using a\ud recursive Lagrangian formulation of manipulator dynamics.\ud Plots and tables of position, velocity, acceleration\ud and generalized force, versus time may be output to\ud evaluate various kinematic arrangements, and to improve\ud the trajectory plan for a known application. A base has\ud been provided for mechanical design of links and for\ud actuator sizing. Manipulator configuration drawn at each\ud specified position may be studied to analyse the\ud workspace and interaction with other elements. Calculations were verified by deriving inertia and\ud gravity terms for a three degree of freedom articulated\ud arm and comparing results. The methodology developed was\ud applied to three six degree of freedom configurations,\ud which are included as library solutions