Dynamics simulation is essential for the development of manipulators for space or hazardous environments because in these environments on-site prototype testing is either unrealistic or very expensive. Contact dynamics is one of the most difficult areas in dynamics simulation and is still an active research subject. A high-fidelity, experimentally validated general contact dynamics modeling software toolkit is introduced. The modeling technology is based on elastic contact mechanics theory with consideration of detailed geometry and material properties. The involved objects may have arbitrary geometries and simultaneous multiple contacts in un-prescribed locations. The toolkit is capable of simulating realistic contact dynamic behavior such as impact, bouncing sliding, rolling, spinning sticking, and jamming. The toolkit is a self contained software library which can be readily integrated into an existing simulator. It has been used for robotic task verification and mission analysis in the International Space Station program and other space applications.


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    Titel :

    CDT - a general contact dynamics toolkit


    Weitere Titelangaben:

    CDT - Ein Werkzeug zur Simulation der Kontaktdynamik bei Landung auf einer Raumstation


    Beteiligte:
    Ma, O. (Autor:in)


    Erscheinungsdatum :

    2000


    Format / Umfang :

    96 Seiten, 9 Bilder, 12 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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