Implicit Time Integration Simulation of Robots with Rigid Bodies and Cosserat Rods Based on A Newton-euler Recursive Algorithm

In this paper, we propose a new algorithm for solving the forward dynamics of multibody systems consisting of rigid bodies connected in arbitrary topologies by localised joints and/or soft links, possibly actuated or not. The simulation is based on the implicit time-integration of the Lagrangian mod...

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Veröffentlicht in:IEEE transactions on robotics Jg. 40; S. 1 - 20
Hauptverfasser: Boyer, Frederic, Gotelli, Andrea, Tempel, Philipp, Lebastard, Vincent, Renda, Federico, Briot, Sebastien
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.01.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Algorithms
Automatic
Engineering Sciences
Heuristic algorithms
Inverse dynamics
Jacobian matrices
Kinematics
Mathematical models
Multibody systems
Prediction algorithms
Rigid structures
Robot kinematics
Robotics
Rods
Strain
Time integration
Topology
ISSN:1552-3098, 1941-0468
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Zusammenfassung:In this paper, we propose a new algorithm for solving the forward dynamics of multibody systems consisting of rigid bodies connected in arbitrary topologies by localised joints and/or soft links, possibly actuated or not. The simulation is based on the implicit time-integration of the Lagrangian model of these systems, where the soft links are modelled by Cosserat rods parameterised by assumed strain modes. This choice imposes a predictor-corrector structure on the approach, and requires computing both the residual vector and the Jacobian of the residual vector of the dynamics constrained by the time integrator. These additional calculations are handled here with a new Newton-Euler recursive inverse dynamics algorithm and its linearized tangent version. The approach is illustrated with numerical examples from the Cosserat rod literature and from recent robotic applications.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2023.3334647