A modular software architecture for simulating mechanical systems involving coulomb friction integrable by the Runge-Kutta method

Ryo Kikuuwe, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2277-2282
Number of pages6
DOIs
Publication statusPublished - Dec 1 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period9/22/089/26/08

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kikuuwe, R., & Yamamoto, M. (2008). A modular software architecture for simulating mechanical systems involving coulomb friction integrable by the Runge-Kutta method. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2277-2282). [4651184] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4651184