By Topic

An O(N) modular algorithm for the dynamic simulation of robots constrained by a single contact

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
C. S. Bonaventura ; ZETA-TECH Assoc. Inc., Cherry Hill, NJ, USA ; K. W. Jablokow

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.

Published in:

IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)  (Volume:32 ,  Issue: 4 )