Fast forward dynamics simulation of robot manipulators with highly frictional gears

Naoki Wakisaka, Ryo Kikuuwe, Tomomichi Sugihara

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

2 Citations (Scopus)

Abstract

An efficient method to compute the joint friction torques as well as the external contact forces in forward dynamics simulation of a robot manipulator is proposed. The existence of friction inside mechanical gears substantially affects behaviors of the robot, and hence, should be taken into account. The strict form of the equation of motion disables distinguishing the internal friction torques from the external forces, which causes an increase of the degree of indeterminacy and the computation cost. A semi-implicit approach in which the internal friction torques and the external contact forces are alternatively computed is proposed based on an assumption that the net joint actuation torque does not much vary in a short interval. It significantly reduces the computation cost at a comparative accuracy with a completely implicit method.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2096-2101
Number of pages6
ISBN (Electronic)9781467380263
DOIs
Publication statusPublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Wakisaka, N., Kikuuwe, R., & Sugihara, T. (2016). Fast forward dynamics simulation of robot manipulators with highly frictional gears. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 2096-2101). [7487358] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487358