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Dynamics Modelling and Simulation Environment for Rapid Manipulator Design
Author(s) -
Krenn R.,
Schäfer B.
Publication year - 2003
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200310053
Subject(s) - kinematics , robotics , computer science , control engineering , inverse kinematics , robot manipulator , software , inverse dynamics , cad , base (topology) , simulation , robot , artificial intelligence , engineering , engineering drawing , mathematics , programming language , mathematical analysis , physics , classical mechanics
For rapid development of space robotics mission scenarios, DLR provides an efficient assembly and simulation environment. It combines a CAD based robotic subsystems data base with kinematic and kinetic software tools for modeling and simulating the behaviour of the entire robotic system. In space environment, redundant manipulators are prefered. This paper addresses two implemented approaches for solving inverse kinematics and kinetics of such kind of systems.