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Reproducing Physical Dynamics with Hardware-in-the-Loop Simulators: A Passive and Explicit Discrete Integrator

De Stefano, Marco and Balachandran, Ribin and Artigas, Jordi and Secchi, Cristian (2017) Reproducing Physical Dynamics with Hardware-in-the-Loop Simulators: A Passive and Explicit Discrete Integrator. In: IEEE International Conference on Robotics and Automation ICRA, pp. 5899-5906. IEEE International Conference on Robotics and Automation (ICRA), 2017, 29 May - 03 June 2017, Singapore. ISBN 978-1-5090-4632-4/17/

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Official URL: http://ieeexplore.ieee.org/Xplore/home.jsp

Abstract

In this paper we present a passive and reliable explicit discrete integrator, which allows to preserve the energy and dynamic properties of a physical body rendered on a hardware-in-the-loop simulator. Starting from the standard Euler integrator, we identify the energy generation that results from the integration process. This energy makes the time discrete dynamics deviate from the ideal one, resulting in position drifts or stability issues. By exploiting the time domain passivity approach, the simulated dynamics is reshaped in order to preserve its physical energy properties. The proposed integration method allows precise simulation of virtual bodies on industrial robot facilities. The method has been validated in simulation and experimentally tested on the DLR OOS-SIM facility.

Item URL in elib:https://elib.dlr.de/112685/
Document Type:Conference or Workshop Item (Speech)
Title:Reproducing Physical Dynamics with Hardware-in-the-Loop Simulators: A Passive and Explicit Discrete Integrator
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Artigas, Jordijordi.artigas (at) dlr.deUNSPECIFIED
Secchi, Cristiancristian.secchi (at) unimore.itUNSPECIFIED
Date:May 2017
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 5899-5906
ISBN:978-1-5090-4632-4/17/
Status:Published
Keywords:Hardware-in-the-loop, Discrete integrator, Energy preserving, industrial robot
Event Title:IEEE International Conference on Robotics and Automation (ICRA), 2017
Event Location:Singapore
Event Type:international Conference
Event Dates:29 May - 03 June 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:12 Jun 2017 17:30
Last Modified:31 Jul 2019 20:10

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