Andreas Hofmann
Bosch Rexroth AG, Lohr am Main, Germany
Lars Mikelsons
Bosch Rexroth AG, Lohr am Main, Germany
Ines Gubsch
TU Dresden, Chair of Construction Machines and Conveying Technology, Germany
Christian Schubert
TU Dresden, Chair of Construction Machines and Conveying Technology, Germany
Ladda ner artikel
http://dx.doi.org/10.3384/ecp14096949Ingår i: Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Linköping Electronic Conference Proceedings 96:99, s. 949-957
Publicerad: 2014-03-10
ISBN: 978-91-7519-380-9
ISSN: 1650-3686 (tryckt), 1650-3740 (online)
In this paper an approach for handling collision within the Modelica MultiBody library is presented. Therefore; a short overview about collision consideration for multibody simulation is given. Different methods for calculating the contact reactions are discussed and their potentials for implementation in a free Modelica library are deliberated. Furthermore the implementation of this collision library; using a penalty-based collision approach and the Bullet Physics Library for collision detection is described. The application is demonstrated in examples and limitations are brought up. Although some drawbacks restrict usability; the library can be used to increase the level of detail for multibody simulation models.
[1] Otter, M. et al. Collision Handling for the Modelica MultiBody Library. In: Proceedings of the 4th Modelica Conference 2002, Hamburg, Germany, Modelica Association, 7-8 March 2005.
[2] Engelson, V. Integration of Collision Detection with Multibody System Library in Modelica. Linköping, Sweden: Thesis, Department of Computer and Information Science, Linköping University, 2000.
[3] Baraff, D. Dynamic Simulation of Non-Penetrating Rigid Bodies. Ithaca, USA: PhD thesis, Department of Computer Science, Cornell University, 1992.
[4] Mirtich, B. V. Impulse-based Dynamic Simulation of Rigid Body Systems. Berkleley, USA: Ph.D. thesis, Graduate Division, UC Berkeley. [5] Glocker, Ch. Dynamik von Starrkörpersystemen mit Reibung und Stößen. In: VDIFortschrittsbereichte Mechanik/Bruchmechanik, 1995
[6] Beitelschmidt, M. Reibstöße in Mehrkörpersystemen. Munich, Germany: Ph.D. thesis, Lehrstuhl B für Mechanik, 1998.
[7] Schmitt, A. A. Dynamische Simulation von gelenkgekopppelten Starrkörpersystemen mit der Impulstechnik. Karlsruhe, Germany: internal report, Department of Computer Science, Karlsruhe Institute of Technology, 2003.
[8] Bullet Physics Library. available at: www.bulletphysics.com.
[9] Coumans, E. Bullet 2.80 Physics SDK Manual. URL: http://www.cs.uu.nl/docs/vakken/mgp/assignment/Bullet%20-%20User%20Manual.pdf, 2012.
[10] Machado,M. et al. Compliant contact force models in multibody dynamics: Evolution of the hertz contact theory. In: Mechanism and Machine Theory 53 (2012), pages 99-121.
[11] Gilbert, E.G., Johnson, D.W. and Keerthi, S.S. A fast procedure for computing the distance between complex objects in three-dimensional space. In: IEEE Journal of Robotics and Automation 4(2), pages 193-203, 1988.
[12] Cohen, J.D. et al. I-Collide: An Interactive and Exact Collision Detection System for Large-Scale Environments. In: Proceedings of the 1995 Symposium on Interactive 3D Graphics 189ff, Monterey, CA, USA, 1995.