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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| Vydáno v: | International journal of robotics & automation Ročník 22; číslo 3; s. 222 - 234 |
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| Hlavní autoři: | , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
Calgary
ACTA Press
01.01.2007
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| Témata: | |
| ISSN: | 0826-8185, 1925-7090 |
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| Abstract | 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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| AbstractList | 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. 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] |
| Author | Jablokow, K W Bonaventura, C S Buffinton, K W |
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| DOI | 10.2316/Journal.206.2007.3.206-2959 |
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| SubjectTerms | Algorithms Boundary conditions Decomposition Kinematics Methods Robots Simulation Software packages Studies |
| Title | A MODULAR ALGORITHM FOR THE DYNAMICS OF MULTIPLE FLEXIBLE ROBOTS |
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