A modular dynamic simulation algorithm for complex robot systems

Clifford S. Bonaventura; Kathryn W. Jablokow

doi:10.1109/robot.2004.1308751

A modular dynamic simulation algorithm for complex robot systems

Clifford S. Bonaventura, Kathryn W. Jablokow

Engineering Division (Great Valley)

Research output: Contribution to journal › Conference article › peer-review

2 Scopus citations

Abstract

This paper presents a modular approach for the dynamic modelling 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 non-holonomic constraints in the system. In addition to the development of the dynamic equations, this paper addresses the implementation of the simulation algorithm and provides a simple example to illustrate its modularity.

Original language	English (US)
Pages (from-to)	3226-3233
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	4
DOIs	https://doi.org/10.1109/robot.2004.1308751
State	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/robot.2004.1308751

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title = "A modular dynamic simulation algorithm for complex robot systems",

abstract = "This paper presents a modular approach for the dynamic modelling 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 non-holonomic constraints in the system. In addition to the development of the dynamic equations, this paper addresses the implementation of the simulation algorithm and provides a simple example to illustrate its modularity.",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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AU - Jablokow, Kathryn W.

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AB - This paper presents a modular approach for the dynamic modelling 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 non-holonomic constraints in the system. In addition to the development of the dynamic equations, this paper addresses the implementation of the simulation algorithm and provides a simple example to illustrate its modularity.

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DO - 10.1109/robot.2004.1308751

M3 - Conference article

AN - SCOPUS:3042550231

SN - 1050-4729

VL - 2004

SP - 3226

EP - 3233

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

IS - 4

T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

Y2 - 26 April 2004 through 1 May 2004

ER -

A modular dynamic simulation algorithm for complex robot systems

Abstract

All Science Journal Classification (ASJC) codes

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