Modeling robots: A real time method for solving the forward dynamics problem incorporating friction

A. Gogoussis, Max Donath

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

2 Scopus citations

Abstract

A modular and computationally efficient method for a real-time solution to the forward problem of robot mechanisms incorporating Coulomb friction is developed. Coulomb friction effects associated with both transmissions and bearings are considered. Moreover, the method accounts for joint flexibility as well as actuator gyroscopic effects. In our approach, the inverse dynamics formulation is used for solving the forward dynamics problem. The positive definiteness property of the inertia matrix of the dynamic equations of motion is exploited by intentionally introducing algebraic loops so that simultaneous algebraic equations are solved without iterations. The formulation developed here is useful in cases requiring either or both the inverse and forward dynamics solutions typically associated with design and control. Furthermore, the implementation of the method facilitates real-time and accurate simulations of complex robot dynamics.

Original languageEnglish (US)
Title of host publicationProc USA Jpn Symp Flexible Autom Crossing Bridges Adv Flexible Autom Rob
PublisherPubl by American Soc of Mechanical Engineers (ASME)
Pages27-33
Number of pages7
StatePublished - Dec 1 1988
EventProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA
Duration: Jul 18 1988Jul 20 1988

Other

OtherProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
CityMinneapolis, MN, USA
Period7/18/887/20/88

Fingerprint Dive into the research topics of 'Modeling robots: A real time method for solving the forward dynamics problem incorporating friction'. Together they form a unique fingerprint.

Cite this