C. M. Hoffmann and J. E. Hopcroft. Simulation of physical systems from geometric models. IEEE Journal of Robotics and Automation, RA-3(3):194-- 206, June 1987.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....in a manner completely analogous to the formulation of the basic dynamics equations, and solves these equations to produce the instantaneous velocity changes caused by the impact. The details of Newton s methods for handling impact, contact and other exceptional events are given elsewhere [14, 15, 11, 10]. Event definition and control Support for control programming is provided by allowing users to define their own event types. Events provide the mechanism for state transitions in control programs. Event definition consists of a specification of how to detect the event (including information ....

C. M. Hoffmann and J. E. Hopcroft. Simulation of physical systems from geometric models. IEEE Journal of Robotics and Automation, RA-3(3):194-- 206, June 1987.

....first suggested in [21] to look at the corresponding normals from the previous time step. The use of complex (i.e. nonconvex) geometrical shapes greatly complicates the contact analysis. In this paper, we describe a general model for contact to support dynamics simulation systems such as Newton [10, 11, 5]. Here we extend the work on the system proposed in [21] and [3] We are concerned here with analyzing the geometry in a meaningful way for the dynamics. The geometric analysis of contact can only be understood in context of the entire model driven simulation paradigm, and so in Section 2, we ....

C. M. Hoffmann and J. E. Hopcroft. "Simulation of Physical Systems from Geometric Models", IEEE Journal of Robotics and Automation, RA--3(3):194--206, June 1987.

.... detection and avoidance are basic robotic functions that require extensive knowledge of the objects involved [9, 13, 14, 18] as do other spatial reasoning problems, such as fine motion planning [19] checking plans in the face of uncertainty [7] robot programming [2, 17] mechanism simulation [16], graspplanning [26, 20] tolerance checking [22] bin packing, cloth cutting, and pipe routing. The development of programs to perform such spatial reasoning tasks lead us to identify a need for a geometry engine that could be used as the geometric heart of many spatial reasoning systems, and ....

Christoph M. Hoffmann and John E. Hopcroft. Simulation of physical systems from geometric models. IEEE J. Robotics & Automation, 3(3):194--206, June 1987.

....at both initial and final keyframes. This is done by blending two dynamic motion curves, each satisfying one of the two boundary conditions; the resulting blended motion curve satisfies all the boundary conditions. Many efficient methods have been developed for forward dynamic simulation [2, 3, 4, 6, 12, 13]; based on simulating the law of physics, they produce quite natural dynamic motions. The blended motion curve generates slightly less natural dynamic motion; however, this is inevitable when the motion curve must satisfy all the boundary conditions. The SC method tries to minimize awkwardness by ....

....Original Blended Energy [t1, t2] Figure 9: New Energy Peaks 9 3.2 Open Chain Multi Linked Body System We consider how the motion blending technique can be applied to the case of open chain multilinked body system. There are many ways to formulate the multi link body kinematics and dynamics [2, 6, 9, 12, 13]. For the implementation here, we use the explicit formulas developed in Reference [9] for the Lagrangian and the kinetic and potential energy terms. The formulas are very compact using Lie group and Lie algebra notations. Although they are somewhat difficult to read, the compact formulations ....

Hoffmann, C., and Hopcroft, J., "Simulation of Physical Systems from Geometric Models," IEEE Trans. on Robotics and Automation, Vol. 3, No. 3, pp. 194--206, 1987.

....component the inclusion of geometric models. Indeed, unless we consider only the dynamics of mass points and rigid bodies so abstracted, the interaction between the objects is modulated by their shapes, and this complicates things and necessitates geometry. The experience with Project Newton[3][4] a rigid body dynamics simulator driven from geometric models, suggests that geometry is a severe complication, both in terms of correctly accounting for the effects of shape on the physics in every possible configuration, as well as from a computational point of view. The effects of shape ....

C. M. Hoffmann and J. Hopcroft, "Simulation of Physical Systems from Geometric Models," IEEE J. Robotics and Aut., RA3-3, 1987, pp. 194-206.

....of mechanical parts, tools, and machines, which need to be tested for interconnectivity, functionality, and reliability. The goal of these virtual and electronic simulation systems is to save processing time and manufacturing costs by avoiding the production of actual physical prototypes [Hop88, HH87]. This is similar to the goal of CAD tools for VLSI. It requires a complete test environment for simulating hundreds of parts interacting. Supported in part by a Sloan fellowship, University research council grant, NSF grant CCR 9319957, ONR contract N00014 94 1 0738, ARPA contract ....

C.M. Hoffmann and J. E. Hopcroft. Simulation of physical systems from geometric models. IEEE Journal on Robotics and Automation, 3(3):194--206, 1987.

....solution. The use of complex geometrical shapes and the massive number of contact queries and analyses suggests using specialized solid representations that facilitate and optimize such geometric computations. In this paper, we describe the interface between the Newton dynamics simulation system [17, 18] and Protosolid [27] a geometric modeling system. This work extends the system introduced in [28] We are mainly concerned here with analyzing the geometry in a meaningful way for the dynamics. Enough of the dynamics are presented to show why we handle the geometry a certain way, but the details ....

C. M. Hoffmann and J. E. Hopcroft. "Simulation of physical systems from geometric models", IEEE Journal of Robotics and Automation, RA--3(3):194-- 206, June 1987.

....0. In both cases, only a single vector comparison is needed for each face. 4 Implementation This technique has been implemented in C within Proxima [9] a system based on the Brep index data structure [10] The Brep index supports contact analysis [2] for the Newton dynamics simulation system [4, 6, 7]. The culling technique serves as its front end. In the system, the objects are given in their local frames of reference and mapped to the global frame in each time step by the transformation p = p L R i r i : Here, point p L is the corresponding point of p in the local frame of reference, ....

C. M. Hoffmann and J. E. Hopcroft. "Simulation of Physical Systems from Geometric Models", IEEE Journal of Robotics and Automation, RA--3(3):194--206, June 1987.

....65N50, 68P05, 68U05. 1 This work has been supported in part by NSF Grant CCR 86 19817. Towards Grid Generation with BSP Trees 1 1 Introduction Solid modeling techniques are applied in mechanical simulation system for representing objects and detecting collisions in dynamic simulation systems [2, 10, 11, 26], and they are also applied in systems for solving partial differential equations (PDE) to represent and discretize 3D domains [20] In such applications there is no single best representation schema for solids. Therefore, solids are modeled in a multiplicity of ways, including boundary ....

C. M. Hoffmann and J. E. Hopcroft. Simulation of physical systems from geometric models. IEEE Journal of Robotics and Automation, RA--3(3):194--206, June 1987.

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C. M. Hoffmann and J. E. Hopcroft. Simulation of physical systems from geometric models. IEEE Journal of Robotics and Automation, RA--3(3):194--206, June 1987.

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