A MODULAR ALGORITHM FOR THE DYNAMICS OF MULTIPLE FLEXIBLE ROBOTS

This paper presents an efficient modular algorithm for the dynamic simulation of systems of multiple flexible robots with multiple concurrent constraints. This research represents an important extension of previous work in the modular dynamic simulation of complex rigid-body systems. In addition to...

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Veröffentlicht in:International journal of robotics & automation Jg. 22; H. 3; S. 222 - 234
Hauptverfasser: Bonaventura, C S, Jablokow, K W, Buffinton, K W
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Calgary ACTA Press 01.01.2007
Schlagworte:
Algorithms
Boundary conditions
Decomposition
Kinematics
Methods
Robots
Simulation
Software packages
Studies
ISSN:0826-8185, 1925-7090
Online-Zugang:Volltext
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Zusammenfassung:This paper presents an efficient modular algorithm for the dynamic simulation of systems of multiple flexible robots with multiple concurrent constraints. This research represents an important extension of previous work in the modular dynamic simulation of complex rigid-body systems. In addition to a summary of the algorithm, the treatment of potentially critical nonlinear strain and kinematic effects is also discussed. The algorithm is validated through several examples, including both series and parallel robot configurations. [PUBLICATION ABSTRACT]
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ISSN:0826-8185
1925-7090
DOI:10.2316/Journal.206.2007.3.206-2959