Session: 07-08-02: Multibody Dynamic Systems and Applications II

Paper Number: 146170

146170 - A Robotic Simulation Package: Architecture, Algorithms, and Applications 

This paper focuses on the development of a robotic simulation package aimed at solving forward and backward kinematic problems in multibody dynamic systems using MATLAB. To achieve this objective, the core solver is enriched with both special Euclidean group SE(3) and dual quaternions, which are instrumental in addressing the complex computational challenges inherent in multi-body systems, thereby improving the accuracy of simulating rigid body motion and joint constraints. Additionally, the package incorporates the Moore–Penrose inverse technique to effectively resolve the resulting constrained optimization problem using Lagrange multipliers.  Furthermore, the software architecture is meticulously outlined, illustrating the framework within which the robotic simulation package operates. The package is meticulously designed within an object-oriented framework to provide a flexible and user-friendly platform. Each module or distinct architecture of the software undergoes rigorous scrutiny through comprehensive unit tests and validation against a diverse range of multi-body systems. Finally, the paper demonstrates the precise motion planning and simulation capabilities of the developed package through selective robotic systems.

Presenting Author: Arman Dabiri Southern Illinois University Edwardsville

Presenting Author Biography: Arman Dabiri earned his Bachelor's and Master's degrees from the Aerospace and Mechanical Engineering Department at K. N. Toosi University of Technology. He completed his Ph.D. in the Aerospace and Mechanical Engineering Department at The University of Arizona in 2018. Subsequently, he commenced his academic career as an assistant professor in the Department of Mechanical Engineering at Eastern Michigan University. Currently, he serves as an assistant professor in the Department of Mechanical and Mechatronics Engineering at Southern Illinois University Edwardsville.

Authors:

Arman Dabiri Southern Illinois University Edwardsville
Shian Qi Southern Illinois University Edwardsville
Shihao Zhao Southern Illinois University Edwardsville