Simulation of Trajectories and Comparison of Joint Variables for Robotic Manipulator using Multibody Dynamics (MBD)

Abstract

This paper deals with simulation of different manipulator for a given value of joint variable and comparing workspace generated by both manipulators. In this work, the analytical model is validated and simulated using Multibody Dynamics (MBD) of Hyperworks. The objective of paper is to analyze singularities and variation of joint variable for both configurations while moving around a specified path. The link velocity is computed for both configuration and it is compared with analytical model. The trajectory used for manipulator is same and coding is done for forward and inverse kinematics using MATLAB 6.5.