Modelling and simulation of a rate controlled manipulator ARM

Report (1986)

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Simulation Robotics Algorithms Kinematics Trajectory control Manipulators Mathematical models Control system design Dynamic models Jacobi matrix method Real time operation Arm (Anatomy) Hermes manned spaceplane
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Published Date

15-12-1986

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NLR-TR 87010 U

Abstract

The mathematical model of a space based manipulator arm with a rate controlled end effector is defined and the recursive algorithms for the computation of the basic djmamic functions are formulated. A digital simulation of this system is implemented and preliminary results are presented. Actual running times for the simulation In a VAX 750 computer for the six degrees of freedom rate controlled manipulator are faster than real time.