상세정보
학술지
A generalized framework for interactive dynamic simulation for multirigid bodies
- 저자
- 손욱호, Kyunghwan Kim, Nancy M. Amato, Jeffrey C. Trinkle
- 발행일
- 200404
- 출처
- IEEE Transactions on Systems, Man and Cybernetics, Part B, v.34 no.2, pp.912-924
- ISSN
- 1083-4419
- 출판사
- IEEE
- 협약과제
- 04ZC1100, 의료기반 VR Therapy 기술개발, 김종성
- 초록
- 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