TY - GEN
T1 - A modular software architecture for simulating mechanical systems involving coulomb friction integrable by the Runge-Kutta method
AU - Kikuuwe, Ryo
AU - Yamamoto, Motoji
PY - 2008/12/1
Y1 - 2008/12/1
N2 - This paper presents a modular architecture of simulation software that is capable of properly capturing Coulomb friction in mechanical systems. The presented architecture is built upon Kikuuwe et al.'s discrete-time friction model, which is based on the implicit Euler method. The paper reformulates the model into a form that can be integrable through the standard fourth order Runge-Kutta method. Some examples based on the presented architecture are presented.
AB - This paper presents a modular architecture of simulation software that is capable of properly capturing Coulomb friction in mechanical systems. The presented architecture is built upon Kikuuwe et al.'s discrete-time friction model, which is based on the implicit Euler method. The paper reformulates the model into a form that can be integrable through the standard fourth order Runge-Kutta method. Some examples based on the presented architecture are presented.
UR - http://www.scopus.com/inward/record.url?scp=69549120288&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549120288&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4651184
DO - 10.1109/IROS.2008.4651184
M3 - Conference contribution
AN - SCOPUS:69549120288
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2277
EP - 2282
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -