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Proceedings Paper

Graphical simulation and animation environment for flexible structure robots
Author(s): Suresh B. Marapane; Hemanshu R. Pota; Andrew Sexton; Mohan M. Trivedi
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Paper Abstract

Lack of good design tools have made designing, modeling, and control of long reach, light weight, ultrahigh-speed robotic structures extremely difficult. This paper describes a research effort towards development of a comprehensive design tool to study the dynamic behavior of flexible robotic structures. The graphical simulation and animation environment presented will help researchers to design and evaluate alternate geometries and control algorithms and would fully complement laboratory based experimentation. This paper explores the advantages of using graphical simulation and animation techniques for the design of flexible robotic structures, presents an implementation of such an environment, and demonstrates its capabilities by simulating the behavior of a flexible beam driven by a motor and controlled using a simple PD controller.

Paper Details

Date Published: 1 November 1992
PDF: 12 pages
Proc. SPIE 1828, Sensor Fusion V, (1 November 1992); doi: 10.1117/12.131640
Show Author Affiliations
Suresh B. Marapane, Univ. of Tennessee/Knoxville (United States)
Hemanshu R. Pota, Univ. of Tennessee/Knoxville (United States)
Andrew Sexton, Univ. of Tennessee/Knoxville (United States)
Mohan M. Trivedi, Univ. of Tennessee/Knoxville (United States)

Published in SPIE Proceedings Vol. 1828:
Sensor Fusion V
Paul S. Schenker, Editor(s)

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