A modular object-oriented framework for hierarchical multiresolution robot simulation

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We describe the design and implementation of RSTATION, an object-oriented. modular robot simulator with hierarchical analysis capabilities. Modularity is achieved via the features of design encapsulation and enables grouping a set of interconnected components into a single component and dividing the robot system into several sets of subordinate modules recursively. By careful construction of the data types and classes. RSTATION allows for hierarchical simulation of the kinematics. and the dynamics at three levels: considering only main links (high-level), using simplified models including dynamic properties of transmission elements (intermediate level), and taking into account the detailed kinematics and dynamics of transmission elements (low-level). Submodules can be set to different resolution during a single simulation. The data types and classes also exploit a recent set of coordinate invariant robot analysis algorithms based on modern screw theory. Central to the low-level dynamic analysis capability is an algorithm for systematically extracting the constraint equations for general gearing systems. The various features of RSTATION are illustrated with a detailed case study of a commercial industrial robot.
Publisher
CAMBRIDGE UNIV PRESS
Issue Date
2004-03
Language
English
Article Type
Article
Keywords

DYNAMICS; FORMULATION; ALGORITHMS

Citation

ROBOTICA, v.22, pp.141 - 154

ISSN
0263-5747
DOI
10.1017/S0263574703005434
URI
http://hdl.handle.net/10203/176611
Appears in Collection
GCT-Journal Papers(저널논문)
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