Paper Info
Title
Simulation of n-R planar manipulators
Abstract
Modeling and simulation of n-DOF planar manipulators with revolute joints are presented in the paper. First, numerical effective equations to solve the direct kinematics of n-degree-of-freedom manipulators are derived. Following this, the dynamic model based on Lagrangian equation is developed. In the model the characteristics of planar manipulators are utilized and therefore the complexity of the model is increasing slower with the number of degrees of freedom compared with the general type of manipulators. Next, some cost functions for n-R manipulators and their gradients are presented. The derived models represent the basis of the software package “Planar Manipulators Toolbox” implemented in MATLAB/SIMULINK. The package allows the user to create and simulate different systems considering planar manipulators. MATLAB functions and SIMULINK blocks provided, include forward kinematics, dynamics and several utility functions.
Year
DOI
Venue
1998
10.1016/S0928-4869(97)00040-2
Simulation Practice and Theory
Keywords
Field
DocType
Modeling,Redundant manipulators,Robot systems,Simulation
Kinematics,MATLAB,Lagrangian,Modeling and simulation,Computer science,Control theory,Software,Planar,Revolute joint,Forward kinematics
Journal
Volume
Issue
ISSN
6
3
0928-4869
Citations 
PageRank 
References 
5
0.59
12
Authors
1
Name
Order
Citations
PageRank
Leon Zlajpah110016.58