Efficient Dynamic Computer Simulation of Robotic Mechanisms

Walker, Michael; Orin, David E.

doi:10.1115/1.3139699

Cited by 710 publications

(251 citation statements)

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“…Luego de obtener la matriz de masas de cada pierna y separarlas según el procedimiento expuesto, la matriz de masas global, ecuación (1), se define: Los vectores γ r se determinan de manera eficiente adecuando algoritmos que resuelven el problema dinámico inverso (PDI), tal y como fue propuesto por Walker y Orin (1982). Este procedimiento consiste en anular, en el algoritmo PDI, los términos relacionados con las aceleraciones en los nudos.…”

Section: Resolución Del Problema Dinamicounclassified

Dinámica Directa de Robots Paralelos Utilizando las Ecuaciones de Gibbs-Appell

et al. 2007

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ResumenEn este trabajo se propone una formulación sistemática que permite resolver el problema dinámico directo de robot paralelos, constituidos por eslabones rígidos y juntas ideales, mediante el uso de las ecuaciones de Gibbs-Appell explícitas, propuestas por Udwadia y Kabala. La metodología permite transformar la resolución del problema dinámico de un sistema mecánico restringido, a la resolución de un sistema conformado por cadenas abiertas, lo cual permite hacer uso de algoritmos eficientes basados en las ecuaciones de Gibbs-Appell. La validación de la metodología se realiza a través de dos ejemplos numéricos. Palabras claves: sistemas multicuerpo, robot paralelos, ecuaciones Gibbs-Appell, dinámica directa Forward Dynamic Problem of Parallel Robot by Using Gibbs-Appell Equations AbstractIn this work the use of efficient open chain algorithms based on Gibbs-Appell equations is extended for solving the forward dynamics problem of parallel robots. This extension is carried out by developing a methodology based on the Explicit Gibbs-Appell dynamic equation of motion. The methodology allows transforming the solution of the dynamic problem corresponding to a restricted mechanical system to the solution of a system formed by open chains that permit using the efficient algorithms based on the Gibbs-Appell equations. The methodology was validated using two numerical examples.

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Section: Resolución Del Problema Dinamicounclassified

Dinámica Directa de Robots Paralelos Utilizando las Ecuaciones de Gibbs-Appell

et al. 2007

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“…The special cases where the joints are spherical, revolute and prismatic (sliding pair) are considered after the establishment of the general system model. Although the closed form equations are useful for theoretical investigations, an algorithmic approach to the solution of these equations is preferable [10][11][12][13][14]. This is the main reason for keeping the across variables xc.…”

Section: The Systems Of Rigid Bodiesmentioning

confidence: 99%

Network model approach to the analysis of multirigid-body systems

Tokad

1993

Dynamics and Control

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Abstract. The mathematical model of a rigid body in three dimensional motion developed in [1] is used to formulate the equations of motion for the systems of rigid bodies connected to form a special type of open kinematic chain. In this interconnection pattern of rigid bodies, each rigid body is considered as a 3-port component, and for the sake of generality, initially no constraints are imposed on the joints used to interconnect the rigid bodies. The system is considered as an (m + 1)-port component and the corresponding terminal equations are obtained in closed form. As an appliction of these equations, a three-link plane manipulator is considered.

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“…The inertia shaping technique [2] to control the overall composite rigid body (CRB) inertia [3] of the robot cannot be launched before foot placement is completed, because the two actions may be in conflict. Therefore, we introduce partial inertia shaping, which is a procedure to change the CRB inertia of the robot simultaneously during foot placement, without using the joints involved in the latter.…”

Section: C) Simultaneous Foot Placement and Inertia Shapingmentioning

confidence: 99%

Generalized direction changing fall control of humanoid robots among multiple objects

Nagarajan

Goswami

2010

2010 IEEE International Conference on Robotics and Automation

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Abstract-Humanoid robots are expected to share human environments in the future and it is important to ensure safety of their operation. A serious threat to safety is the fall of a humanoid robot, which can seriously damage both the robot and objects in its surrounding. This paper proposes a strategy for planning and control of fall. The controller's objective is to prevent the robot from hitting surrounding objects during a fall by modifying its default fall direction.We have earlier presented such a direction-changing fall controller in [1]. However, the controller was applicable only when the robot's surrounding contained a single object. In this paper we introduce a generalized approach to humanoid falldirection control among multiple objects. This new framework algorithmically establishes a desired fall direction through assigned scores, considers a number of control options, and selects and executes the best strategy. The fall planner is also able to select "No Action" as the best strategy, if appropriate. The controller is interactive and is applicable for fall occurring during upright standing or walking. The fall performance is continuously tracked and can be improved in real-time. The planning and control algorithms are demonstrated in simulation on an ASIMO-like humanoid robot.

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Efficient Dynamic Computer Simulation of Robotic Mechanisms

Cited by 710 publications

References 0 publications

Dinámica Directa de Robots Paralelos Utilizando las Ecuaciones de Gibbs-Appell

Dinámica Directa de Robots Paralelos Utilizando las Ecuaciones de Gibbs-Appell

Network model approach to the analysis of multirigid-body systems

Generalized direction changing fall control of humanoid robots among multiple objects

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