Abstract:
The simulator users do not have an adequate solution for the universal manipulators
because the existing simulators are narrow with limited applications. This paper presents a development of an efficient simulator for universal nlink serial link manipulators which based on efficient Newton-Euler formulation, the Jacobian base Newton- Raphson techniques and the Taylor series expansion. This simulator supports wide range of robot
manipulator and user can design a manipulator, define and generate trajectories and simulate dynamics using simulating solution developed was a combination of trajectory planning, kinematic and dynamic model as a single utility which was verified with the PUMA 560.
