In this paper we present a passive and reliable explicit discrete integrator, which allows to preserve the energy and dynamic properties of a physical body rendered on a hardware-in-the-loop simulator. Starting from the standard Euler integrator, we identify the energy generation that results from the integration process. This energy makes the time discrete dynamics deviate from the ideal one, resulting in position drifts or stability issues. By exploiting the time domain passivity approach, the simulated dynamics is reshaped in order to preserve its physical energy properties. The proposed integration method allows precise simulation of virtual bodies on industrial robot facilities. The method has been validated in simulation and experimentally tested on the DLR OOS-SIM facility.
Reproducing physical dynamics with hardware-in-the-loop simulators: A passive and explicit discrete integrator / De Stefano, Marco; Balachandran, Ribin; Artigas, Jordi; Secchi, Cristian. - (2017), pp. 5899-5906. ((Intervento presentato al convegno 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 tenutosi a Marina Bay Sands International Convention Centre, sgp nel 2017.
Data di pubblicazione: | 2017 |
Titolo: | Reproducing physical dynamics with hardware-in-the-loop simulators: A passive and explicit discrete integrator |
Autore/i: | De Stefano, Marco; Balachandran, Ribin; Artigas, Jordi; Secchi, Cristian |
Autore/i UNIMORE: | |
Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/ICRA.2017.7989694 |
Codice identificativo Scopus: | 2-s2.0-85028007014 |
Nome del convegno: | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 |
Luogo del convegno: | Marina Bay Sands International Convention Centre, sgp |
Data del convegno: | 2017 |
Serie: | PROCEEDINGS - IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION |
Pagina iniziale: | 5899 |
Pagina finale: | 5906 |
Citazione: | Reproducing physical dynamics with hardware-in-the-loop simulators: A passive and explicit discrete integrator / De Stefano, Marco; Balachandran, Ribin; Artigas, Jordi; Secchi, Cristian. - (2017), pp. 5899-5906. ((Intervento presentato al convegno 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 tenutosi a Marina Bay Sands International Convention Centre, sgp nel 2017. |
Tipologia | Relazione in Atti di Convegno |
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