模拟受刚性接触约束的刚性机器人

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240534

G. Ferretti, C. Maffezzoni, G. Magnani

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引用次数: 1

摘要

本文提出了一种基于通用微分代数方程求解器的仿真环境，用于机器人机械臂在自由空间中运动或与曲面相互作用的动态仿真。碰撞表面被建模为柔顺表面或完全刚性表面。为了展示仿真环境的性能，我们考虑了一个实际机器人MANUTEC R3的案例研究。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Simulating rigid robots constrained by stiff contact

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.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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