REAL-TIME SIMULATOR OF A MANIPULATOR WITH MULTIBODY DYNAMICS AND CONTROL MODEL

Using the constraint Jacobian and its pseudoinverse in resolved-motion rate control, a high-speed interactive simulator has been developed fora 7-d.o.f. redundant manipulator under teleoperation. The simulation includes nonlinear manipulator dynamics, linear control, computer graphics, and interface with a Mini-Master. The operator's command is interpreted as a series of increments in Cartesian space, and then the constraint Jacobian is constructed on-line between two successive increments by viewing the predecessor as the initial configuration and the successor as the target configuration. The pseudoinverse of the constraint Jacobian then generates necessary changes in joint variables, and, subsequently, in joint torque. The simulator is built on a two-processor IRIS workstation, with one processor for graphics, and the other for dynamics and control analysis. This simulator can be used to train the teleoperator, to develop operational scenarios through visualization of the simulation, and to test the design of man-machine interface.