Experimental validation of contact dynamics simulation of constrained robotic tasks

Citation
J. Van Vliet et al., Experimental validation of contact dynamics simulation of constrained robotic tasks, INT J ROB R, 19(12), 2000, pp. 1203-1217
Citations number
24
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
ISSN journal
02783649 → ACNP
Volume
19
Issue
12
Year of publication
2000
Pages
1203 - 1217
Database
ISI
SICI code
0278-3649(200012)19:12<1203:EVOCDS>2.0.ZU;2-N
Abstract
Dynamics simulation plays a key role in the design, verification, and opera tion planning of space manipulator systems because of the difficulties of g round-based physical tests with large,flexible robotic systems. Modeling of contact dynamics has increasingly become an essential step in dynamics sim ulation of space station robotic operations (such as the assembly and maint enance of the station). This role requires the modeling tool to have very h igh fidelity. This paper describes a research project aimed at experimental ly validating a general contact dynamics simulation software developed by M cDonald Dettwiler Space and Advanced Robotics Ltd (previously Spar Aerospac e Lid). The experimental tests were carried out in the robotics laboratory at the University of Victoria. The validation results demonstrated that the software is capable of predicting realistic contact behavior.