Universal dynamic simulator for robot manipulators

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.