Date of Award
Spring 1990
Document Type
Thesis
Degree Name
Master of Science (MS)
Department
Mechanical & Aerospace Engineering
Program/Concentration
Engineering Mechanics
Committee Director
Thomas E. Alberts
Committee Member
Jen K. Huang
Committee Member
Griffith McRee
Committee Member
F. Wallace Harrison
Call Number for Print
Special Collections; LD4331.E57L69
Abstract
Future space missions may require the utilization of automation technology for assembly, maintenance, repair, and a variety of repetitive or hazardous operations. Many tasks which are likely candidates for robotic or telerobotic execution are either difficult or impossible to duplicate in the laboratory. With an accurate simulation package, many of these tasks can be evaluated by computer simulation before committing the resources required for laboratory experimentation. With this motivation, the ROBSIM robot simulation software has been developed by NASA Langley Research Center in conjunction with the Martin Marietta Corporation. ROBSIM is a versatile tool with features including the ability to accommodate mobile bases and multiple arms. The dynamic simulation is formulated to account for manipulator link structure kinetics, discrete time control implementation, DC motor electrical and mechanical characteristics, stiction and coulomb friction, and amplifier saturation. This paper presents the results of an experimental and analytical investigation to validate and refine the manipulator dynamic simulation capabilities of ROBSIM. This represents the first endeavor to validate ROBSIM's dynamic simulation capabilities. Primary emphasis is placed upon actuator nonlinearities and gear train compliance. A brief outline of the structure of ROBSIM, and a description of its features, is included.
Rights
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DOI
10.25777/xbzs-0x36
Recommended Citation
Love, Lonnie J..
"A Detailed Analysis of Dynamic Robotic Simulation"
(1990). Master of Science (MS), Thesis, Mechanical & Aerospace Engineering, Old Dominion University, DOI: 10.25777/xbzs-0x36
https://digitalcommons.odu.edu/mae_etds/598