제어로봇시스템학회:학술대회논문집
- 1991.10a
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- Pages.539-544
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- 1991
Computer simulation system of robot manipulator motion
로보트 매니퓰레이터 운동의 컴퓨터 시뮬레이션 시스템
Abstract
In order to verify robot motions for a desired work, it is necessary to visualize it on a computer screen. This paper presents a simulation algorithm for robot manipulator motion. Kinematic description is based on the Denavit- Hartenberg link representation. In order to be applied to various types of the robot manipulator, inverse kinematics make use of the Newton-Raphson iterative method with the least squares method. Joint variables are interpolated by the lowest polynomial segment satisfying acceleration continuity. The robot motions are generated and then animated on a computer screen in the form of skeleton type.
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