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) [10.1109/ICRA.2017.7989694].

Reproducing physical dynamics with hardware-in-the-loop simulators: A passive and explicit discrete integrator

Secchi, Cristian
2017

Abstract

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.
2017
2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Marina Bay Sands International Convention Centre, sgp
2017
5899
5906
De Stefano, Marco; Balachandran, Ribin; Artigas, Jordi; Secchi, Cristian
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) [10.1109/ICRA.2017.7989694].
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1175745
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 14
  • ???jsp.display-item.citation.isi??? ND
social impact