Document Type
Thesis
Date of Award
5-31-1986
Degree Name
Master of Science in Mechanical Engineering - (M.S.)
Department
Mechanical Engineering
First Advisor
Sachio Nakamura
Second Advisor
Bernard Koplik
Third Advisor
Rong-Yaw Chen
Abstract
Industrial robots are open-loop multi-degree of freedom mechanisms whose dynamic characteristics are described by nonlinear differential equations. The computations of forces and torques required at each joint of robot manipulator are crucial step for real time control of robot manipulators.
Vukobratovic developed a new computational method for rigid body articulated open-loop mechanisms based on the Gibbs -Appell equations to generate differential equations of motion for spatial open - chain mechanisms. To solve these equations, he introduced the recursive kinematic transformation matrices that represent the motion of each linkage with respect to the base linkage.
Computer programs are developed in this thesis to implement Vukobratovic's algorithm. The programs are verified by comparing the numerical results with known analytical solutions. The problems solved are : (1) a simple rigid body pendulum and (2) double pendulum. The agreement between numerical results and analytical solutions are satisfactory. It is concluded that the method is a promising numerical technique for robot manipulator dynamics.
Recommended Citation
Kim, Kwang Bok, "Computational method for robot manipulator dynamics based on the Gibbs-Appell equations" (1986). Theses. 3416.
https://digitalcommons.njit.edu/theses/3416
