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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Bibliographic Details
Published in:International journal of robotics & automation Vol. 22; no. 3; pp. 222 - 234
Main Authors: Bonaventura, C S, Jablokow, K W, Buffinton, K W
Format: Journal Article
Language:English
Published: Calgary ACTA Press 01.01.2007
Subjects:
Algorithms
Boundary conditions
Decomposition
Kinematics
Methods
Robots
Simulation
Software packages
Studies
ISSN:0826-8185, 1925-7090
Online Access:Get full text
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Summary: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