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) |
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Pages (from-to) | 3226-3233 |
Number of pages | 8 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 2004 |
Issue number | 4 |
DOIs | |
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