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ICRA
2000
IEEE

Forward Dynamics Algorithms for Multibody Chains and Contact

13 years 10 months ago
Forward Dynamics Algorithms for Multibody Chains and Contact
We describe a framework for derivation of several forward dynamics algorithms used in robotics. The framework is based on formulating an augmented system and performing block matrix elimination on this system. Several popular algorithms such as the O(N) Articulated Body method, and Composite Rigid Body method can be easily derived. We also derive an algorithm for simulation of contact between smooth bodies of arbitrary shape, in contact coordinates. Finally, we discuss some potential numerical difficulties that could arise and their solution.
Dinesh K. Pai, Uri M. Ascher, Paul G. Kry
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Dinesh K. Pai, Uri M. Ascher, Paul G. Kry
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