A time-stepping scheme for quasistatic multibody systems

Author

Trinkle, J.C. ; Berard, Stephen ; Pang, J.S.

Author_Institution

Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY

fYear

2005

fDate

19-21 July 2005

Firstpage

174

Lastpage

181

Abstract

Two new instantaneous-time models for predicting the motion and contact forces of three-dimensional, quasistatic multi-rigid-body systems are developed; one linear and one nonlinear. The nonlinear characteristic is the result of retaining the usual quadratic friction cone in the model. Discrete-time versions of these models provide the first time-stepping methods for such systems. As a first step to understanding their usefulness in simulation and manipulation planning, a theorem for solution uniqueness is presented along with simulation results for a simple example

Keywords

discrete time systems; friction; industrial manipulators; nonlinear control systems; contact force prediction; discrete-time models; instantaneous-time models; manipulation planning; motion prediction; multirigid-body systems; quadratic friction cone; quasistatic multibody systems; time-stepping scheme; Acceleration; Assembly; Computer science; Friction; Legged locomotion; Mathematical model; Predictive models; Production facilities; Productivity; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005. (ISATP 2005). The 6th IEEE International Symposium on

Conference_Location

Montreal, Que.

Print_ISBN

0-7803-9080-6

Type

conf

DOI

10.1109/ISATP.2005.1511469

Filename

1511469