On dynamics simulation of 3 DOF manipulator

In order to solve the traditional manipulator dynamics simulation problems of low efficiency and bad real-time, a method of manipulator dynamics simulation based on ODE is proposed. First of all, in order to obtain the kinematics model, the building of manipulator D-H coordinate system is necessary. Secondly, the calculation of manipulator inverse kinematics is performed by Euclidean norm. Thirdly, manipulator dynamics calculation is accomplished by open-source dynamics engine Open Dynamic Engine. At last, the 3D simulation platform of manipulator is established after importing 3D model of manipulator into Open Inventor. The simulation experiment shows that the method has high computing efficiency, it not only can realizes the real-time control of manipulator, but also can draws the curves of dynamics parameters. The experiment demonstrates that this method is effective and can be applied to real-time dynamic simulation of robot manipulator.