A modular dynamic simulation algorithm for complex robot systems

Clifford S. Bonaventura, Kathryn W. Jablokow

Research output: Contribution to journalConference articlepeer-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 languageEnglish (US)
Pages (from-to)3226-3233
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number4
DOIs
StatePublished - 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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