ロボットのシミュレーションに関する研究(第1報)
振動解析
1987 年 53 巻 8 号 p. 1177-1182
詳細
1987 年 53 巻 8 号 p. 1177-1182
This paper presents a method for analyzing the complete behavior of robotic manipulators with flexible links, in order to simulate motion of robot at the design stage, The strict dynamic properties of robot can be obtained by using Lagrange's equation of motion and finite element method (FEM) and program, including modeling of complicated structure of joints and control system. This method is added to the simulation system of robot motion (TOMCAT) which has been previously developed here. The method presented here provides a useful analytical tool to design lightweight, highspeed robots.
