Modelling and Simulation of a Rate Controlled Manipulator Arm

摘要

The mathematical model of a space-based manipulator arm with a rate-controlled end effector is defined and the recursive algorithms for the computation of the basic dynamic functions are formulated. A digital simulation of the system is implemented and preliminary results are presented. Actual running times for the simulation in a VAX 750 computer for the six degrees of freedom rate-controlled manipulator are faster than real time.