SIMULATING DISCONTINUOUS PHENOMENA AFFECTING ROBOT MOTION

The paper deals with simulation of mechanical systems affected by disc ontinuous phenomena. These phenomena involve impulsive events and/or m odels whose structure changes depending on the values of some system v ariables. The models of three kinds of these discontinuities (joint wi th static friction, collisions with rigid environment, bifurcation beh avior near kinematic singularities) are given, and a simulation enviro nment, based on the DAE solver DASSL is presented, that also allows ef ficient simulation of sample-data systems. Some simulation results ach ieved with the proposed environment are finally presented.