RobWorkPhysicsEngine:A new Dynamic Simulation Engine for Manipulation Actions
| Autor: | Thomas Nicky Thulesen, Henrik Gordon Petersen |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Robotics Control engineering 02 engineering and technology Animation Resolution (logic) Contact force Numerical integration Dynamic simulation 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Artificial intelligence Dynamical simulation Physics engine business |
| Zdroj: | Thulesen, T N & Petersen, H G 2016, RobWorkPhysicsEngine : A new Dynamic Simulation Engine for Manipulation Actions . in Proceedings of the 2016 IEEE International Conference on Robotics and Automation . IEEE Press, pp. 2060-2067, 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 16/05/2016 . https://doi.org/10.1109/ICRA.2016.7487354 ICRA |
| DOI: | 10.1109/ICRA.2016.7487354 |
| Popis: | Simulation in robotics is often based on physics engines developed for computer games and animation. These engines are inaccurate due to the applied first order numerical integration and because their ways to resolve redundant contacts lead to contact forces that are distributed in a physically unreasonable way among multiple contacts. In this paper, we present a new physics engine that resolves these flaws by designing and implementing a second order integration method, and by a new way of defining the contact-force resolution problem. We illustrate the improvement over state-of-the-art engines by a number of experiments. The new engine is proven to be particularly suitable for simulating tight fitting assembly operations where multiple contacts occur between the objects involved. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|