By Topic

Simulation of a cartesian robot arm

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
W. Nelson ; Bell Telephone Laboratories, Murray Hill, New Jersey ; J. Chang

This paper describes a program for the simulation of the control logic and system dynamics of a robot arm having three Cartesian axes of motion plus two rotational axes of the wrist. The program was written in the C language and includes a fourth-order Runge-Kutta algorithm for the integration of the nonlinear differential equations for the individual axes. Validation of the program operation and evaluation of the many system parameters are also discussed. The simulated motion is compared and adjusted to fit experimental data on the actual arm motion. The results indicate that the simulation can be a useful and safe means for off-line testing of system changes and new control schemes.

Published in:

Robotics and Automation. Proceedings. 1984 IEEE International Conference on  (Volume:1 )

Date of Conference:

Mar 1984