Implementation of multi-rigid-body dynamics within a robotic grasping simulator

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2003, Pages 2262-2268

  Miller, Andrew T ^a   Christensen, Henrik I ^a  

^a ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONSTRAINT THEORY; GRIPPERS; MOTION CONTROL;

GRASPING SIMULATION; ROBOTIC SIMULATION;

ROBOTICS;

EID: 0344014164     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. M. Anitescu and F. A. Potra. Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems. Nonlinear Dynamics, 14:231-247, 1997.
2. D. Baraff. Issues in computing contact forces for non-penetrating rigid bodies. Algorithmica, pages 292-352, October 1993.
3. P. Corke. A robotics toolbox for MATLAB. IEEE Robotics and Automation Magazine, 3(1):24-32, Mar. 1996.
4. R. W. Cottle, J. S. Pang, and R. E. Stone. The Linear Complementarity Problem. Academic Press, 1992.
5. H. M. Hilber, T. J. R. Hughes, and R. L. Taylor. Improved numerical dissipation for time integration algorithms in structural dynamics. Earthquake Engineering and Structural Dynamics, 6:283-292, 1977.
6. E. Larsen, S. Gottschalk, M. Lin, and D. Manocha. Fast proximity queries with swept sphere volumes. Technical Report TR99-018, Dept. of Computer Science, University of North Carolina, Chapel Hill, 1999.
7. A. T. Miller and P. K. Allen. Graspit!: A versatile simulator for grasping analysis. In Proc. of the ASME Dynamic Systems and Control Division, volume 2, pages 1251-1258, Orlando, FL, 2000.
8. B. Mirtich, Impulse-based Dynamic Simulation of Rigid Body Systems. PhD thesis, Dept. of Computer Science, University of California at Berkeley, 1996.
9. D. C. Ruspini and O. Khatib. Collision/contact models for the dynamic simulation and haptic interaction. In Proc. of the Ninth International Symposium of Robotics Research, ISRR'99, 185-194, Snowbird, UT, 1999.
10. A. Speck and H. Klaeren, RoboSiM: Java 3D robot visualization. In IECON '99 Proceedings, pages 821-826, 1999.
11. M. R. Stein and S. Falchetti. A new graphics simulator for RCCL and its use in undergraduate robotics instruction. In Proceeding 8th Intl. Conf. on Advanced Robotics, ICAR '97, pages, 825-830, 1997.
12. D. Stewart and J. Trinkle. An implicit time-stepping scheme for rigid body dynamics with coulomb friction. In Proc. of the 2000 IEEE Intl. Conf. on Robotics and Automation, pages 162-169, 2000.