Web-based virtual reality for simulation of a heavy manipulator with a freely suspended payload

Abstract

The paper presents the development of a Web-based Virtual Reality (VR) environment for simulation and visualization of the motion of a hydraulically driven heavy manipulator with a freely suspended payload. Two main problems are resolved in the paper. First, a combined mathematical model of the manipulator, considered as a 2 DOF discrete mechanical model is derived. It represents the dynamics of the two key functional subsystems of the manipulator - mechanical subsystem, consisting of a link and freely suspended payload and hydraulic subsystem, consisting of a hydraulic cylinder. Second, by the use of the contemporary Web technologies a VR environment for simulation, visualization and animation of the obtained results is developed. The produced VR environment is easy reused and shared with other users and thus considerably facilitates the design, investigation, and e-learning of such type of system.