{"title":"Simulating rigid robots constrained by stiff contact","authors":"G. Ferretti, C. Maffezzoni, G. Magnani","doi":"10.1109/ICAR.1991.240534","DOIUrl":null,"url":null,"abstract":"A simulation environment, based on a general purpose differential algebraic equation solver, for the dynamic simulation of robot manipulators moving either in the free space or in interaction with surfaces is presented in the paper. The collision surfaces are modelled either as compliant surfaces or as perfectly rigid surfaces. To show the performance of the simulation environment a case study is considered, that refers to the real robot MANUTEC R3.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1991.240534","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
A simulation environment, based on a general purpose differential algebraic equation solver, for the dynamic simulation of robot manipulators moving either in the free space or in interaction with surfaces is presented in the paper. The collision surfaces are modelled either as compliant surfaces or as perfectly rigid surfaces. To show the performance of the simulation environment a case study is considered, that refers to the real robot MANUTEC R3.<>
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
