 Manipulation robots: Computer aided design and control synthesisM. Vukobratović and V. Cvetković Mathematics and Computers in Simulation (MATCOM), 1982, vol. 24, issue 4, 292-302 Abstract: Concept and brief description of major program modules for realization of general manipulation system “simulator”, i.e. programming system for the design, dynamic analysis, synthesis and verification of control algorithms for manipulation systems of arbitrary mechanical configuration is presented. The simulation system can be used for the computer-aided design of the stand-alone manipulation systems as well as for the teleoperational systems controlled semi-automatically. The simulation system is based on the computer-generated complete dynamic model of the active spatial mechanisms. The simulator is intended for: (1) the mechanical configuration design, (2) the control synthesis for the chosen mechanical configuration and actuators, adopted control structure and given class of manipulation tasks. Previously developed and tested algorithms and computer-aided design procedures, used in developing the system, are reported in references. This paper should be understood as conceptual description of the programming system which synthesizes all previous results. Date: 1982 Downloads: (external link) Related works: Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:24:y:1982:i:4:p:292-302 DOI: 10.1016/0378-4754(82)90073-8 Access Statistics for this article Mathematics and Computers in Simulation (MATCOM) is currently edited by Robert Beauwens More articles in Mathematics and Computers in Simulation (MATCOM) from Elsevier |
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