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Carnegie Mellon Robotics Institute

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Abstract

This paper presents a methodology for deriving the system graph of a 3D mechanism from CAD models. That is, a linear graph that captures the energy flow in a system. This work is part of a larger research effort in composable simulation. In composable simulation, CAD models of system components are augmented with simulation models describing the component's dynamic behavior in different energy domains. By composable simulation we mean the ability to automatically generate system-level simulations through composition of individual component models. From the system graph, the system-level dynamic equations can be derived independently of the underlying energy domains.

Notes

Associated Center(s) / Consortia: National Robotics Engineering Center

Associated Lab(s) / Group(s): Advanced Mechatronics Lab

Associated Project(s): Composable Simulation

Text Reference

Antonio Diaz-Calderon, Chris Paredis, and Pradeep Khosla, "On the Synthesis of the System Graph for 3D Mechanics," Proceedings of the 18th American Control Conference, June, 1999, pp. 3137 - 3141.

BibTeX Reference

@inproceedings{Diaz-Calderon_1999_3043,
   author = "Antonio Diaz-Calderon and Chris Paredis and Pradeep Khosla",
   title = "On the Synthesis of the System Graph for 3D Mechanics",
   booktitle = "Proceedings of the 18th American Control Conference",
   pages = "3137 - 3141",
   month = "June",
   year = "1999",
   volume = "5",
}

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