Simulating rigid robots constrained by stiff contact

Author

Ferretti, G. ; Maffezzoni, C. ; Magnani, G.

Author_Institution

Dipartimento di Elettronica, Politecnico di Milano, Italy

fYear

1991

fDate

19-22 June 1991

Firstpage

1461

Abstract

A simulation environment, based on a general purpose differential algebraic equation solver, for the dynamic simulation of robot manipulators moving either in the free space or in interaction with surfaces is presented in the paper. The collision surfaces are modelled either as compliant surfaces or as perfectly rigid surfaces. To show the performance of the simulation environment a case study is considered, that refers to the real robot MANUTEC R3.<>

Keywords

algebra; differential equations; digital simulation; mechanical engineering computing; robots; MANUTEC R3; collision surfaces; compliant surfaces; digital simulation; dynamic simulation; free space; general purpose differential algebraic equation solver; interaction; mechanical engineering computing; perfectly rigid surfaces; rigid robots; robot manipulators; simulation environment; stiff contact; Differential algebraic equations; Joining processes; Kinematics; Lagrangian functions; Manipulator dynamics; Orbital robotics; Packaging; Robot motion; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Conference_Location

Pisa, Italy

Print_ISBN

0-7803-0078-5

Type

conf

DOI

10.1109/ICAR.1991.240534

Filename

240534