{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:30Z","timestamp":1777715730116,"version":"3.51.4"},"reference-count":24,"publisher":"SAGE Publications","issue":"12","license":[{"start":{"date-parts":[[2000,12,1]],"date-time":"2000-12-01T00:00:00Z","timestamp":975628800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,12]]},"abstract":"<jats:p>Dynamics simulation plays a key role in the design, verification, and operation planning of space manipulator systems because of the difficulties of ground-based physical tests with large, flexible robotic systems. Modeling of contact dynamics has increasingly become an essential step in dynamics simulation of space station robotic operations (such as the assembly and maintenance of the station). This role requires the modeling tool to have very high fidelity. This paper describes a research project aimed at experimentally validating a general contact dynamics simulation software developed by McDonald Dettwiler Space and Advanced Robotics Ltd (previously Spar Aerospace Ltd). The experimental tests were carried out in the robotics laboratory at the University of Victoria. The validation results demonstrated that the software is capable of predicting realistic contact behavior.<\/jats:p>","DOI":"10.1177\/02783640022068039","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"1203-1217","source":"Crossref","is-referenced-by-count":30,"title":["Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks"],"prefix":"10.1177","volume":"19","author":[{"given":"J.","family":"Van Vliet","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Victoria, Victoria,                         British Columbia, Canada V8W 3P6"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"I.","family":"Sharf","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Victoria, Victoria,                         British Columbia, Canada V8W 3P6"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"O.","family":"Ma","sequence":"additional","affiliation":[{"name":"McDonald Dettwiler Space and Advanced Robotics Ltd, 9445 Airport Road,                         Brampton, Ontario, Canada L6S 4J3"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,12,1]]},"reference":[{"key":"atypb1","unstructured":"Aghili, F., Dupuis, E., Piedboeuf, J.C., and de Carufel, J. 1999. Hardware-in-the-loop simulation of robots performing contact tasks . Proceedings of the 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space, the Netherlands, pp. 583\u2013588 ."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/100.540146"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1080\/08905459608905271"},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Bridges, N. M., and Dawson, D. M. 1993. Redesign of robust controller for RLFJ robotic manipulators actuated with harmonic drives . Proceedings of the American Control Conference, San Francisco, pp. 2507\u20132510 .","DOI":"10.23919\/ACC.1993.4793342"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1007\/BF01198742"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1007\/BF01198743"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1115\/1.2919206"},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"Han, I., Gilmore, B. J., and Ogot, M. M. 1992. Synthesis and experimental validation of dynamics parts-orienting devices . ASME 18th Design Automation Conference: Advances in Design Automation 1: 83\u201393 .","DOI":"10.1115\/DETC1992-0108"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1006\/jsvi.1998.2038"},{"key":"atypb10","unstructured":"Johnson, K. L. 1985. Contact Mechanics. Cambridge, UK: Cambridge University Press ."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1115\/1.3260798"},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Lankarani, H. M., and Nikravesh, P. E. 1994. Continuous contact force models for impact analysis in multibody systems . Nonlinear Dynamics 5: 193\u2013207 .","DOI":"10.1007\/BF00045676"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826359"},{"key":"atypb14","unstructured":"Ma, O. 1993. MDSF theoretical modelling report: Contact dynamics. MDR Internal Technical Report, Spar-SS-TM-1893."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000076"},{"key":"atypb16","unstructured":"Nahon, M., Damaren, C., Goncalves, J., and Bergen, A. 1995. Test facility for multi-armed space-based manipulators . Canadian Aeronautics and Space Journal 41(4): 150\u2013162 ."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00092-X"},{"key":"atypb18","doi-asserted-by":"crossref","unstructured":"Smith, J. A., Rizer, A. L., and Obergefell, L. E. 1993. Predictive simulation of restrained occupant dynamics in vehicle rollovers . SAE Special Publications 975: 5\u201313 .","DOI":"10.4271\/930887"},{"key":"atypb19","unstructured":"Van Vliet, J., and Sharf, I. 1998. Development of a planar macro-micro manipulator facility: From design through model validation . Canadian Aeronautics and Space Journal 44: 40\u201350 ."},{"key":"atypb20","unstructured":"Van Vliet, J., and Sharf, I. 1999. Experimental investigations of contact tasks for space-based manipulators: Further validation of MDSF contact dynamics capabilities. Final report to McDonald Dettwiler Space and Advanced Robotics Ltd and the Canadian Space Agency."},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00091-8"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1109\/70.258051"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149634"},{"key":"atypb24","unstructured":"Yang, J. K., and Lovsund, P. 1997. Development and validation of a human-body mathematical model for simulation of car-pedestrian collisions. Doktorsavh Chalmers Tek Hogsk, No. 1320."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022068039","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022068039","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:03Z","timestamp":1777457763000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783640022068039"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,12]]},"references-count":24,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2000,12]]}},"alternative-id":["10.1177\/02783640022068039"],"URL":"https:\/\/doi.org\/10.1177\/02783640022068039","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,12]]}}}