TY - GEN
T1 - Fast forward dynamics simulation of robot manipulators with highly frictional gears
AU - Wakisaka, Naoki
AU - Kikuuwe, Ryo
AU - Sugihara, Tomomichi
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84977523334&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2016.7487358
DO - 10.1109/ICRA.2016.7487358
M3 - Conference contribution
AN - SCOPUS:84977523334
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2096
EP - 2101
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -