# Efficient Dynamic Simulation of Robotic Mechanisms

Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems.

Author: Kathryn Lilly

Publisher: Springer Science & Business Media

ISBN: 1461531241

Category: Technology & Engineering

Page: 136

View: 744

Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. In particular, the simulation of single closed chains and simple closed-chain mechanisms is investigated in detail. Single closed chains are common in many applications, including industrial assembly operations, hazardous remediation, and space exploration. Simple closed-chain mechanisms include such familiar configurations as multiple manipulators moving a common load, dexterous hands, and multi-legged vehicles. The efficient dynamics simulation of these systems is often required for testing an advanced control scheme prior to its implementation, to aid a human operator during remote teleoperation, or to improve system performance. In conjunction with the dynamic simulation algorithms, efficient algorithms are also derived for the computation of the joint space and operational space inertia matrices of a manipulator. The manipulator inertia matrix is a significant component of any robot dynamics formulation and plays an important role in both simulation and control. The efficient computation of the inertia matrix is highly desirable for real-time implementation of robot dynamics algorithms. Several alternate formulations are provided for each inertia matrix. Computational efficiency in the algorithm is achieved by several means, including the development of recursive formulations and the use of efficient spatial transformations and mathematics. All algorithms are derived and presented in a convenient tabular format using a modified form of spatial notation, a six-dimensional vector notation which greatly simplifies the presentation and analysis of multibody dynamics. Basic definitions and fundamental principles required to use and understand this notation are provided. The implementation of the efficient spatial transformations is also discussed in some detail. As a means of evaluating efficiency, the number of scalar operations (multiplications and additions) required for each algorithm is tabulated after its derivation. Specification of the computational complexity of each algorithm in this manner makes comparison with other algorithms both easy and convenient. The algorithms presented in Efficient Dynamic Simulation of Robotic Mechanisms are among the most efficient robot dynamics algorithms available at this time. In addition to computational efficiency, special emphasis is also placed on retaining as much physical insight as possible during algorithm derivation. The algorithms are easy to follow and understand, whether the reader is a robotics novice or a seasoned specialist.

# Robot Motion

Efficient Dynamic Computer Simulation of Robotic Mechanisms Michael W. Walker David E. Orin Abstract . The Newton - Euler formulation of the cquations of motion of an open - loop kinematic chain is used within a dynamic computer ...

Author: Patrick Henry Winston

Publisher: MIT Press

ISBN: 9780262021821

Category: Computers

Page: 585

View: 687

The present surge of interest in robotics can be expected to continue through the1980s. Major research efforts are springing up throughout industry and in the universities. Seniorand graduate level courses are being developed or planned in many places to prepare students tocontribute to the development of the field and its industrial applications. Robot Motion will servethis emerging audience as a single source of information on current research in the field.The bookbrings together nineteen papers of fundamental importance to the development of a science ofrobotics. These are grouped in five sections: Dynamics; Trajectory Planning; Compliance and ForceControl; Feedback Control; and Spatial Planning. Each section is introduced by a substantialanalytical survey that lays out the problems that arise in that area of robotics and the approachesand solutions that have been tried, with an evaluation of their strengths and shortcomings. Inaddition, there is an overall introduction that relates robotics research to general trends in thedevelopment of artificial intelligence.Individual papers are the work of H. Hanafusa, H. Asada, N.Hogan, M. T. Mason, R. Paul, B. Shimano, M. H. Raibert, J. J. Craig, R. H. Taylor, D. E. Whitney, J.M. Hollerbach, J. Luh, M. Walker, R. J. Popplestone, A. P. Ambler, I. M. Bellos, T. LozanoPerez, E.Freund, D. F. Golla, S. C. Garg, P. C. Hughes, and K. D. Young.The editors are all researchscientists at MIT's Artificial Intelligence Laboratory and in addition, Michael Brady is coeditorwith Richard Paul of The International Journal of Robotics Research. Robot Motion is included in theMIT Press Artificial Intelligence Series.

# Springer Handbook of Robotics

2.5 M.W. Walker, D.E. Orin: Efficient Dynamic Computer 2.25 Simulation of Robotic Mechanisms, Trans. ASME J. Dyn. Syst. Measur. Control 104, 205-211 (1982) 2.6 D. Baraff: Linear-Time Dynamics using Lagrange 2.26 Multipliers, Proc.

Author: Bruno Siciliano

Publisher: Springer Science & Business Media

ISBN: 354023957X

Category: Technology & Engineering

Page: 1611

View: 140

With the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world. The handbook is an ideal resource for robotics experts but also for people new to this expanding field.

# Modelling and Simulation of Robot Manipulators

"Properties and Structure of Dynamic Robot Models for Control Engineering Applications," Mechanism and Machine Theory, vol. 20, no. 1, pp. 27-40. TURNEY, J. L., MUDGE, T. N., AND LEE, C. S. G., ... "Efficient Dynamic Computer Simulation ...

Author: Albert Y Zomaya

Publisher: World Scientific Publishing Company

ISBN: 9813104546

Category: Computers

Page: 312

View: 208

This book aims to describe how parallel computer architectures can be used to enhance the performance of robots, and their great impact on future generations of robots. It provides an in-depth, consistent and rigorous treatment of the topic. A clear definition of tools with results is given which can be applied to parallel processing for robot kinematics and dynamics. Another advantageous feature is that the algorithms presented have been implemented using a parallel processing system, unlike many publications in the field which have presented results in only theoretical terms. This book also includes “benchmark” results that can be used for the development of future work, or can serve as a basis for comparison with other work. In addition, it surveys useful material to aid readers in pursuing further research. Contents:IntroductionThe Parallel Processing ApproachRobot KinematicsComputing the JacobianInverse Jacobian ComputationRobot DynamicsParallel Computations of Robot DynamicsTuning of Robot DynamicsConcluding RemarksAppendix AAppendix BAppendix CAppendix D Readership: Engineers and computer scientists.

# Kinematic and Dynamic Simulation of Multibody Systems

Bae, D.-S. and Haug, E.J., “A Recursive Formulation for Constrained Mechanical System Dynamics. Part I: Open-Loop Systems”, Mechanics of ... Walker, M.W. and Orin, D.E., “Efficient Dynamic Computer Simulation of Robotic Mechanisms”, ...

Author: Javier Garcia de Jalon

Publisher: Springer Science & Business Media

ISBN: 1461226007

Category: Science

Page: 440

View: 351

Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.

# IUTAM Symposium on Intelligent Multibody Systems Dynamics Control Simulation

Attia, H.A.: A recursive method for the dynamic analysis of mechanical systems in spatial motion. ... Brandl, H., Johanni, R., Otter, M.: A very efficient algorithm for the simulation of robots and similar multibody systems without ...

Author: Evtim Zahariev

Publisher: Springer

ISBN: 3030005275

Category: Technology & Engineering

Page: 206

View: 373

This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive and active mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.

# Dynamic Analysis of Robot Manipulators

This efficiency is achieved mainly because the underlying modeling scheme used here for the dynamic analysis ... “Efficient Dynamic Computer Simulation of Robotic Mechanisms”, ASME J. Dynamic Systems, Measurement and Control, Vol.

Author: Constantinos A. Balafoutis

Publisher: Springer Science & Business Media

ISBN: 1461539528

Category: Technology & Engineering

Page: 292

View: 689

The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the following problems of rigid-link open-chain manipulator dynam ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com putationally efficient solutions of these problems are prerequisites for real time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor vector identities can be obtained. These identities enrich the theory of Carte sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan tages over the classical vector formulation. Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics. XlI Application of this tensor methodology to the dynamic analysis of rigid-link open-chain robot manipulators is simple and leads to an efficient fonnulation of the dynamic equations of motion.

# Dynamics of Tree Type Robotic Systems

IEEE/RSJ international conference on intelligent robots and systems (pp. 2471–2478), Nice, France. ... IEEE International Conference on Robotics and Automation, 3, 1174–1179. ... Efficient dynamic simulation of robotic mechanisms.

Author: Suril Vijaykumar Shah

Publisher: Springer Science & Business Media

ISBN: 9400750064

Category: Technology & Engineering

Page: 252

View: 253

This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots. The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.

# Motion in Games

Multibody System Dynamics 2, 89–114 (1998) Kokkevis, E.: Practical Physics for Articulated Characters. In: Game Developers Conference (2004) Lilly, K.W.: Efficient Dynamic Simulation of Robotic Mechanisms.

Author: Marcelo Kallmann

Publisher: Springer

ISBN: 364234710X

Category: Computers

Page: 384

View: 267

This book constitutes the refereed proceedings of the 5th International Workshop on Motion in Games, held in Rennes, France, in November 2012. The 23 revised full papers presented together with 9 posters and 5 extended abstracts were carefully reviewed and selected from numerous submissions. The papers are organized in topical sections on planning, interaction, physics, perception, behavior, virtual humans, locomotion, and motion capture.

# Handbook of Industrial Robotics

“ Displacement Analysis of the General Spatial 7 - link 7R Mechanism . " Mechanism and Machine Theory 23 , 219–226 . Lilly , K. W. 1993. Efficient Dynamic Simulation of Robotic Mechanisms . Dordrecht : Kluwer Academic .

Author: Shimon Y. Nof

Publisher: John Wiley & Sons

ISBN: 9780471177838

Category: Technology & Engineering

Page: 1378

View: 657

About the Handbook of Industrial Robotics, Second Edition: "Once again, the Handbook of Industrial Robotics, in its Second Edition, explains the good ideas and knowledge that are needed for solutions." -Christopher B. Galvin, Chief Executive Officer, Motorola, Inc. "The material covered in this Handbook reflects the new generation of robotics developments. It is a powerful educational resource for students, engineers, and managers, written by a leading team of robotics experts." - Yukio Hasegawa, Professor Emeritus, Waseda University, Japan. "The Second Edition of the Handbook of Industrial Robotics organizes and systematizes the current expertise of industrial robotics and its forthcoming capabilities. These efforts are critical to solve the underlying problems of industry. This continuation is a source of power. I believe this Handbook will stimulate those who are concerned with industrial robots, and motivate them to be great contributors to the progress of industrial robotics." -Hiroshi Okuda, President, Toyota Motor Corporation. "This Handbook describes very well the available and emerging robotics capabilities. It is a most comprehensive guide, including valuable information for both the providers and consumers of creative robotics applications." -Donald A. Vincent, Executive Vice President, Robotic Industries Association 120 leading experts from twelve countries have participated in creating this Second Edition of the Handbook of Industrial Robotics. Of its 66 chapters, 33 are new, covering important new topics in the theory, design, control, and applications of robotics. Other key features include a larger glossary of robotics terminology with over 800 terms and a CD-ROM that vividly conveys the colorful motions and intelligence of robotics. With contributions from the most prominent names in robotics worldwide, the Handbook remains the essential resource on all aspects of this complex subject.