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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