Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
RoKi FD engine which is a dynamics simulator for robotics was proposed. The simulator has some advantage that the step size can be large, the computed forces are reasonable and the joint static friction can be computed. Since the library of the FD engine provides low level functions for dynamics simulation and the controller module is derived from the dynamics calculation module, it is easy to utilize the original program of the controller to verify the control system. This paper explains the structure of RoKi FD engine and introduces examples of verification.
