Cart (Loading....) | Create Account
Close category search window

A modular dynamic simulation algorithm for complex robot systems

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
$31 $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)
Bonaventura, C.S. ; ZETA-TECH Assoc. Inc., Cherry Hill, NJ, USA ; Jablokow, K.W.

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.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:4 )

Date of Conference:

April 26-May 1, 2004

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.