SIMULATION METHOD FOR MANIPULATOR AND APPARATUS THEREFOR, SIMULATION AND CONTROL METHOD FOR MANIPULATOR AND APPARATUS THEREFOR, AND CONTROL METHOD FOR MANIPULATOR AND APPARATUS THEREFOR

摘要

By the application of the total system momentum/conservation of angular momentum, reverse dynamics, and wheel system forward dynamics, the three-dimensional dynamics for the entire manipulator are calculated in real-time. The simulated movement of the manipulator is displayed on a display (2) to make it controllable.