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A Passive Integration Strategy for Rendering Rotational Rigid-body Dynamics on a Robotic Simulator

De Stefano, Marco and Artigas, Jordi and Secchi, Cristian (2017) A Passive Integration Strategy for Rendering Rotational Rigid-body Dynamics on a Robotic Simulator. IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), 24-28 Sep. 2017, Vancouver, BC, Canada. ISSN 978-5386-2681-8/17

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Abstract

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.

Item URL in elib:https://elib.dlr.de/116788/
Document Type:Conference or Workshop Item (Speech)
Title:A Passive Integration Strategy for Rendering Rotational Rigid-body Dynamics on a Robotic Simulator
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Artigas, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Secchi, Cristiancristian.secchi (at) unimore.itUNSPECIFIED
Date:24 September 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 2806-2812
ISSN:978-5386-2681-8/17
Status:Published
Keywords:Passive Integrator; satellite dynamics; HIL; Industrial robot;
Event Title:IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Vancouver, BC, Canada
Event Type:international Conference
Event Dates:24-28 Sep. 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:07 Dec 2017 16:35
Last Modified:07 Dec 2017 16:35

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