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학술지 A generalized framework for interactive dynamic simulation for multirigid bodies
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손욱호, Kyunghwan Kim, Nancy M. Amato, Jeffrey C. Trinkle
IEEE Transactions on Systems, Man and Cybernetics, Part B, v.34 no.2, pp.912-924
04ZC1100, 의료기반 VR Therapy 기술개발, 김종성
This paper presents a generalized framework for dynamic simulation realized in a prototype simulator called the Interactive Generalized Motion Simulator (I-GMS), which can simulate motions of multirigid-body systems with contact interaction in virtual environments. I-GMS is designed to meet two important goals: generality and interactivity. By generality, we mean a dynamic simulator which can easily support various systems of rigid bodies, ranging from a single free-flying rigid object to complex linkages such as those needed for robotic systems or human body simulation. To provide this generality, we have developed I-GMS in an object-oriented framework. The user interactivity is supported through a haptic interface for articulated bodies, introducing interactive dynamic simulation schemes. This user-interaction is achieved by performing push and pull operations via the PHANToM haptic device, which runs as an integrated part of I-GMS. Also, a hybrid scheme was used for simulating internal contacts (between bodies in the multirigid-body system) in the presence of friction, which could avoid the nonexistent solution problem often faced when solving contact problems with Coulomb friction. In our hybrid scheme, two impulse-based methods are exploited so that different methods are applied adaptively, depending on whether the current contact situation is characterized as "bouncing" or "steady." We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories of a 6-degree of freedom (dof) articulated structure.
KSP 제안 키워드
Contact interaction, Contact problems, Coulomb friction, Degrees of freedom(DOF), Different methods, Dynamic Simulation, Generalized framework, Human body simulation, Hybrid Scheme, Rigid bodies, Robotic system