TY - JOUR
T1 - A modular approach to the dynamics of complex multirobot systems
AU - Bonaventura, Clifford S.
AU - Jablokow, Kathryn W.
N1 - Funding Information:
Manuscript received August 14, 2003; revised February 27, 2004. This paper was recommended for publication by Associate Editor P. Dupont and Editor S. Hutchinson upon evaluation of the reviewers’ comments. This work was supported in part by the National Science Foundation under Grant DGE-9454027. This paper was presented in part at the IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004.
PY - 2005/2
Y1 - 2005/2
N2 - This paper presents a modular approach for the dynamic modeling and efficient simulation of complex robot systems composed of multiple robots constrained by multiple concurrent contacts. The modular nature of the algorithm enables existing open-chain models for individual robots and other mechanisms to be incorporated without significant reprogramming, while a general contact model allows both holonomic and nonholonomic constraints in the system. An example is provided to illustrate the algorithm's modularity and demonstrate its application. In addition to the development of the dynamic equations, this paper will discuss the implementation of the simulation algorithm in detail, including issues of computational complexity.
AB - This paper presents a modular approach for the dynamic modeling and efficient simulation of complex robot systems composed of multiple robots constrained by multiple concurrent contacts. The modular nature of the algorithm enables existing open-chain models for individual robots and other mechanisms to be incorporated without significant reprogramming, while a general contact model allows both holonomic and nonholonomic constraints in the system. An example is provided to illustrate the algorithm's modularity and demonstrate its application. In addition to the development of the dynamic equations, this paper will discuss the implementation of the simulation algorithm in detail, including issues of computational complexity.
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U2 - 10.1109/TRO.2004.833809
DO - 10.1109/TRO.2004.833809
M3 - Article
AN - SCOPUS:14044277520
SN - 1552-3098
VL - 21
SP - 26
EP - 37
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 1
ER -