Dynamic Simulation of Interactive Robotic Environment

A dynamic simulation package has been developed which can accurately model the interactions between robots and their environment. It creates a virtual environment in which various controllers and workcells can be tested. The simulator is divided into two parts: local objects that compute their dynamic equations of motion and a global coordinator that resolves interactive forces between objects. This simulator builds upon previous work on dynamic simulation of simple rigid bodies and extends it to correctly model and e ciently compute the dynamics of multi-link robots.

• Type: Conference
• Year: 1994
• Where: ICRA
• Authors: Paul U. Lee, Diego C. Ruspini, Oussama Khatib
• Keywords: Dynamic Simulation, Dynamic Simulation Package, ICRA 1994, Robotics, Simple Rigid Bodies