A modular algorithm for the dynamics of multiple flexible robots

C. S. Bonaventura; K. W. Jablokow; K. W. Buffinton

doi:10.2316/journal.206.2007.3.206-2959

A modular algorithm for the dynamics of multiple flexible robots

C. S. Bonaventura, K. W. Jablokow, K. W. Buffinton

Engineering Division (Great Valley)

Research output: Contribution to journal › Article › peer-review

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.

Original language	English (US)
Pages (from-to)	222-234
Number of pages	13
Journal	International Journal of Robotics and Automation
Volume	22
Issue number	3
DOIs	https://doi.org/10.2316/journal.206.2007.3.206-2959
State	Published - 2007

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Modeling and Simulation
Mechanical Engineering
Electrical and Electronic Engineering
Artificial Intelligence

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10.2316/journal.206.2007.3.206-2959

Cite this

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title = "A modular algorithm for the dynamics of multiple flexible robots",

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.",

author = "Bonaventura, {C. S.} and Jablokow, {K. W.} and Buffinton, {K. W.}",

year = "2007",

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A modular algorithm for the dynamics of multiple flexible robots

Abstract

All Science Journal Classification (ASJC) codes

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