Title :
Modelling and simulation of an industrial robot
Author :
Magnani, G. ; Bologna, P. ; Rizzi, G. ; Lovati, G.
Author_Institution :
FIAR SpA, Milan, Italy
Abstract :
The dynamic mathematical model of a redundant industrial manipulator is described. The model has been obtained by exploiting the features of a continuous-system modular simulation code. These features make it possible to bypass the difficulties related to closed-mechanical chain modeling. A partial validation of the model has been carried out on the basis of experimental test results. Experimental and simulation data are shown and compared
Keywords :
control system CAD; digital simulation; industrial robots; mechanical engineering computing; LEGO package; digital simulation; dynamic mathematical model; industrial robot; modular simulation code; redundant manipulator; Differential algebraic equations; Differential equations; Electrical equipment industry; Large-scale systems; Nonlinear equations; Power system modeling; Service robots; Shafts; Virtual manufacturing; Wrist;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12284
