De Stefano, Marco und Artigas, Jordi und Secchi, Cristian (2017) A Passive Integration Strategy for Rendering Rotational Rigid-body Dynamics on a Robotic Simulator. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Seiten 2806-2812. IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), 2017-09-24 - 2017-09-28, Vancouver, BC, Canada. doi: 10.1109/IROS.2017.8206111. ISBN 978-153862682-5. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/8206111
Kurzfassung
This paper proposes a passive and explicit integrator for simulating a rotational rigid-body dynamics rendered by a robot. Considering the Euler integration method, active energy terms are identified. These sources of energy are due to the external torque and the coupled dynamics which can lead to a non-physical behavior of the simulated dynamics. The proposed method dissipates this energy using a variable damper regulated by an energy observer. The new algorithm guarantees not only passivity but also a consistent energetic integration. The integration method is sustained by simulations and tested on a real-time hardware-in-the-loop simulator.
elib-URL des Eintrags: | https://elib.dlr.de/116788/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | A Passive Integration Strategy for Rendering Rotational Rigid-body Dynamics on a Robotic Simulator | ||||||||||||||||
Autoren: |
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Datum: | 24 September 2017 | ||||||||||||||||
Erschienen in: | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/IROS.2017.8206111 | ||||||||||||||||
Seitenbereich: | Seiten 2806-2812 | ||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||
ISBN: | 978-153862682-5 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Passive Integrator; satellite dynamics; HIL; Industrial robot; | ||||||||||||||||
Veranstaltungstitel: | IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||
Veranstaltungsort: | Vancouver, BC, Canada | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 24 September 2017 | ||||||||||||||||
Veranstaltungsende: | 28 September 2017 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [SY] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | De Stefano, Marco | ||||||||||||||||
Hinterlegt am: | 07 Dez 2017 16:35 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:21 |
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