A kinematics and dynamics simulation of the IBM‐7565 robot using AML

Abstract

Abstract This article presents a kinematics and dynamics simulation of the IBM‐7565 robot using its AML programming language. The kinematics and dynamics models are formulated according to the Denavit‐Hartenberg convention and a recursive Newton‐Euler algorithm, respectively. The simulation is integrated in a CAD software package (CATIA) which is used in robot offline programming and collision/interference analysis. The CAD package software which runs on an IBM 3033 main frame also emulates the AML for automatic programming. The simulation models can be run on the IBM 3033 using the emulator or on the robot's dedicated Series‐1 computer to where the programs are downloaded for execution and control of robot motion.