Title :
A time-stepping scheme for quasistatic multibody systems
Author :
Trinkle, J.C. ; Berard, Stephen ; Pang, J.S.
Author_Institution :
Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY
Abstract :
Two new instantaneous-time models for predicting the motion and contact forces of three-dimensional, quasistatic multi-rigid-body systems are developed; one linear and one nonlinear. The nonlinear characteristic is the result of retaining the usual quadratic friction cone in the model. Discrete-time versions of these models provide the first time-stepping methods for such systems. As a first step to understanding their usefulness in simulation and manipulation planning, a theorem for solution uniqueness is presented along with simulation results for a simple example
Keywords :
discrete time systems; friction; industrial manipulators; nonlinear control systems; contact force prediction; discrete-time models; instantaneous-time models; manipulation planning; motion prediction; multirigid-body systems; quadratic friction cone; quasistatic multibody systems; time-stepping scheme; Acceleration; Assembly; Computer science; Friction; Legged locomotion; Mathematical model; Predictive models; Production facilities; Productivity; Robots;
Conference_Titel :
Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005. (ISATP 2005). The 6th IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
0-7803-9080-6
DOI :
10.1109/ISATP.2005.1511469