An O(N) modular algorithm for the dynamic simulation of robots constrained by a single contact

This paper presents an efficient modular algorithm for the dynamic simulation of robots constrained through a single contact. Such configurations include single robots with closed-loop topologies, as well as, multiple robots with simple series, parallel, and bracing topologies. The modular nature of...

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Bibliographic Details
Published in:IEEE transactions on systems, man and cybernetics. Part C, Applications and reviews Vol. 32; no. 4; pp. 406 - 415
Main Authors: Bonaventura, C.S., Jablokow, K.W.
Format: Journal Article
Language:English
Published: New-York, NY IEEE 01.11.2002
Institute of Electrical and Electronics Engineers
Subjects:
Algorithms
Applied sciences
Computer science; control theory; systems
Computer simulation
Constraints
Contact
Control theory. Systems
Dynamics
End effectors
Exact sciences and technology
Heuristic algorithms
Manipulator dynamics
Material handling, hoisting. Storage. Packaging
Modular
Orbital robotics
Parallel robots
Payloads
Robotics
Robots
System testing
Time varying systems
Topology
Transfert equipment, manipulators; industrial robots
Closed loop
Motion
Multiple
Parallel system
Constraint
Open loop
Non holonomic system
Topology
Dynamic model
Modeling
Robot
Robotics
ISSN:1094-6977
Online Access:Get full text
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Summary:This paper presents an efficient modular algorithm for the dynamic simulation of robots constrained through a single contact. Such configurations include single robots with closed-loop topologies, as well as, multiple robots with simple series, parallel, and bracing topologies. The modular nature of the algorithm enables the incorporation of existing open-chain models for the individual robots without significant reprogramming, while a general contact model extends the range of possible contact conditions to include both holonomic and nonholonomic constraints. The algorithm is validated through the simulation of two robots cooperating in parallel. This paper establishes an accurate framework for simulating simple robot systems with single contacts, which can be extended to multi-robot, multi-contact systems performing general tasks.
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ISSN:1094-6977
DOI:10.1109/TSMCC.2002.806746