Digital Simulation Aspects of Automatically Controlled Motions of Dynamically Linked 3D Objects

  • A.A. Bielskis Kauno technologijos universitetas

Abstract

Dynamic simulation model of an arm type manipulator as an animated 3D object is discussed. Dynamic behaviour of such object is described using state space technique. Some aspects of dynamics of separate joint motion are analyzed using linearized z transform closed loop model of the object. Dynamic response of the joint to step perturbation is included in the simultion model, which is interpreted as an filled polygon type 3D transformed rotating object.
Published
1997-08-28
Section
Articles