TY - JOUR
T1 - An O(N) modular algorithm for the dynamic simulation of robots constrained by a single contact
AU - Bonaventura, Clifford S.
AU - Jablokow, Kathryn W.
N1 - Funding Information:
Manuscript received April 29, 2002; revised October 25, 2002. This paper was recommended by Associate Editor S. Tzafestas. This work was supported in part by the National Science Foundation under Grant DGE-9454027. C. S. Bonaventura is with ZETA-TECH Associates, Inc., Cherry Hill, NJ 08034 USA (e-mail: [email protected]). K. W. Jablokow is with the Department of Mechanical and Nuclear Engineering, Pennsylvania State University, Great Valley School of Graduate Professional Studies, Malvern, PA 19355 USA (e-mail: [email protected]). Digital Object Identifier 10.1109/TSMCC.2002.806746 Fig. 2. Multiple-robot single-contact systems. (a) Serial cooperation. (b) Parallel cooperation. (c) Bracing (midspan contact).
PY - 2002/11
Y1 - 2002/11
N2 - 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 the algorithm enables the incorporation of existing open-chain models for the individual robots without significant reprogramming, while a general contact model extends the range of possible contact conditions to include both holonomic and nonholonomic constraints. The algorithm is validated through the simulation of two robots cooperating in parallel. This paper establishes an accurate framework for simulating simple robot systems with single contacts, which can be extended to multi-robot, multi-contact systems performing general tasks.
AB - 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 the algorithm enables the incorporation of existing open-chain models for the individual robots without significant reprogramming, while a general contact model extends the range of possible contact conditions to include both holonomic and nonholonomic constraints. The algorithm is validated through the simulation of two robots cooperating in parallel. This paper establishes an accurate framework for simulating simple robot systems with single contacts, which can be extended to multi-robot, multi-contact systems performing general tasks.
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U2 - 10.1109/TSMCC.2002.806746
DO - 10.1109/TSMCC.2002.806746
M3 - Article
AN - SCOPUS:0036880621
SN - 1094-6977
VL - 32
SP - 406
EP - 415
JO - IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews
JF - IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews
IS - 4
ER -