Fast forward dynamics simulation of robot manipulators with highly frictional gears

Naoki Wakisaka, Ryo Kikuuwe, Tomomichi Sugihara

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2016 IEEE International Conference on Robotics and Automation, ICRA 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2096-2101
ページ数6
ISBN(電子版)9781467380263
DOI
出版ステータス出版済み - 6 8 2016
イベント2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, スウェーデン
継続期間: 5 16 20165 21 2016

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2016-June
ISSN(印刷版)1050-4729

その他

その他2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Countryスウェーデン
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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