Modeling and numerical simulation of mechanical systems
As far as the study of simulation techniques for mechanical systems
is concerned, P.Rocco has contributed to the development of a
robotics simulation environment and to the detailed analysis
and simulation of nonlinear and discontinuous phenomena affecting
robot motion (friction, impacts with the environment, singularities in closed
chains).
Symbolic manipulation of mechanical models is also required for the
efficient simulation of such systems, as well as for the
implementation of model-based control algorithms. In this field,
P.Rocco has made some work on the complex problem of the modelization of
manipulators containing closed kinematic loops and is now
facing the problem of the automatic generation of computer code for
parallel architectures.
Paolo Rocco
rocco@euler.marc.gatech.edu
Last Revised: May 12, 1995