A modular dynamic simulation algorithm for complex robot systems

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.