On the dynamics of finite-strain rods undergoing large motions a geometrically exact approach
Computer Methods in Applied Mechanics and Engineering
A recursive formulation for flexible multibody dynamics, Part I: open-loop systems
Computer Methods in Applied Mechanics and Engineering
A recursive formulation for flexible multibody dynamics, Part II: closed loop systems
Computer Methods in Applied Mechanics and Engineering
Efficient Dynamic Simulation of Robotic Mechanisms
Efficient Dynamic Simulation of Robotic Mechanisms
Theory of Robot Control
A modular approach to the dynamics of complex robot systems
A modular approach to the dynamics of complex robot systems
A modular approach to the dynamics of complex multirobot systems
IEEE Transactions on Robotics
An O(N) modular algorithm for the dynamic simulation of robots constrained by a single contact
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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This paper presents an efficient modular algorithm for the dynamic simulation of systems of multiple flexible robots with multiple concurrent constraints. This research represents an important extension of previous work in the modular dynamic simulation of complex rigid-body systems. In addition to a summary of the algorithm, the treatment of potentially critical nonlinear strain and kinematic effects is also discussed. The algorithm is validated through several examples, including both series and parallel robot configurations.