A Passive Integration Strategy for Rendering Rotational Rigid-body Dynamics on a Robotic Simulator

被引：0
|
作者：
De Stefano, Marco [1 ,2 ]
Artigas, Jordi [1 ]
Secchi, Cristian [2 ]
机构：
[1] German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Wessling, Germany
[2] Univ Modena & Reggio Emilia, I-41100 Modena, Italy
来源：
2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2017年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper proposes a passive and explicit integrator for simulating a rotational rigid-body dynamics rendered by a robot. Considering the Euler integration method, active energy terms are identified. These sources of energy are due to the external torque and the coupled dynamics which can lead to a non-physical behavior of the simulated dynamics. The proposed method dissipates this energy using a variable damper regulated by an energy observer. The new algorithm guarantees not only passivity but also a consistent energetic integration. The integration method is sustained by simulations and tested on a real-time hardware-in-the-loop simulator.
引用
收藏
页码：2806 / 2812
页数：7
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