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Properties of robot forward dynamics algorithms with applications to simulation

University of British Columbia

This thesis presents issues related to the dynamic simulation of robot manipulators. The numerical simulation problem is usually treated as two separate problems: the forward dynamics problem for computing system accelerations, and the numerical integration problem for advancing the state in time. Using a compact and. unifying notation, existing methods for computing robot forward dynamics are presented and compared. It is shown that the articulated-body method [19, 20] (ABM) is better suited to deal with certain types of numerical problems than the composite rigid-body method [58] (CRBM). Simulation results are presented and the practical implications of these results are considered. In particular, it is shown that the fastest forward dynamics methods are not necessarily best when considered in conjunction with the popular adaptive step-size integration methods. Finally, this thesis also reviews issues related to the difficult task of incorporating contact simulation in the robot simulation process.

Thesis/Dissertation

application/pdf

2009-01-14

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http://hdl.handle.net/2429/3638

Computer Science

University of British Columbia

UBCV

DSpace