Abstract
Dynamic simulation is critical for robotic design and control. In this study, a modular simulation platform is developed using a novel explicit dynamic modeling method. Combined with a PD controller and a globally linearized compensator, the dynamic modeling method presents an explicit and canonical form for tree-chain and closed-chain multi-body systems. Paired with the new approach, the platform makes it convenient for modeling, and it performs well in real-time with a high update frequency. The platform also offers a thorough parameter setting and simulation scene presentation interface through the construction of several modules. A simulation experiment using a 6-DOF manipulator demonstrates the platform’s capacity for real-time, stable, and practical simulations, which is also applicable for high-DOF multi-body systems of future uses.
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