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Simulation of cooperating robot manipulators on a mobile platformThe dynamic equations of motion for two manipulators holding a common object on a freely moving mobile platform are developed. The full dynamic interactions from arms to platform and arm-tip to arm-tip are included in the formulation. The development of the closed chain dynamics allows for the use of any solution for the open topological tree of base and manipulator links. In particular, because the system has 18 degrees of freedom, recursive solutions for the dynamic simulation become more promising for efficient calculations of the motion. Simulation of the system is accomplished through a MATLAB program, and the response is visualized graphically using the SILMA Cimstation.
Document ID
19910050564
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Murphy, Steve H.
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Wen, John T.
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Saridis, George N.
(Rensselaer Polytechnic Institute, Troy, NY, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Cybernetics
Accession Number
91A35187
Funding Number(s)
CONTRACT_GRANT: NAGW-1333
Distribution Limits
Public
Copyright
Other

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