Analogue Computer Simulation of a Robot-Manipulator:

Abstract

This paper describes a dynamic simulation of a robot-manipulator implemented on an analogue computer and under position control of a microcomputer. A method of dynamics based on constraints is developed which enables the simulation to be implemented on a computer of limited capacity. Hydraulic motors, controlled by electrohydraulic servo-valves are modelled at each joint. Results of displacement, velocity and motor load pressures are shown for example motions, and the interdependence of link motion is discussed. The potential uses of the analogue simulation in research and development of manipulators and their control algorithms are described.