Kenny Erleben
Skip Abstract Section
Abstract
Multibody dynamics are used in interactive and real-time applications, ranging from computer games to virtual prototyping, and engineering. All these areas strive towards faster and larger scale simulations. Particularly challenging are large-scale simulations with highly organized and structured stacking. We present a stable, robust, and versatile method for multibody dynamics simulation. Novel contributions include a new, explicit, fixed time-stepping scheme for velocity-based complementarity formulations using shock propagation with a simple reliable implementation strategy for an iterative complementarity problem solver specifically optimized for multibody dynamics.
- Anitescu, M. and Potra, F. A. 1996. Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementary problems. Tech. Rep. No 93/1996, Department of Mathematics, The University of Iowa.Google Scholar
- Armstrong, W. W. and Green, M. W. 1985. The dynamics of articulated rigid bodies for purposes of animation. Visual Comput. 1, 4, 231--240.Google ScholarCross Ref
- Baraff, D. 1989. Analytical methods for dynamic simulation of non-penetrating rigid bodies. Comput. Graph. 23, 3, 223--232. Google ScholarDigital Library
- Baraff, D. 1994. Fast contact force computation for nonpenetrating rigid bodies. Comput. Graph. 28, 23--34.Google Scholar
- Baraff, D. 1995. Interactive simulation of solid rigid bodies. IEEE Comput. Graph. Appl. 15, 3 (May), 63--75. Google ScholarDigital Library
- Cameron, S. 1990. Collision detection by four--dimensional intersection testing. IEEE Trans. Robotics Automa. 6, 3, 291--302.Google ScholarCross Ref
- Chatterjee, A. and Ruina, A. 1998. A new algebraic rigid body collision law based on impulse space considerations. J. Appl. Mechanics.Google ScholarCross Ref
- Cottle, R., Pang, J.-S., and Stone, R. E. 1992. The Linear Complementarity Problem. Academic Press.Google Scholar
- Eberly, D. 2007a. Dynamic collision detection using oriented bounding boxes. Online Paper. Magic Software, Inc.Google Scholar
- Eberly, D. 2007b. Intersection of objects with linear and angular velocities using oriented bounding boxes. Online Paper. Magic Software, Inc.Google Scholar
- Erleben, K. 2005. Stable, robust, and versatile multibody dynamics animation. Ph.D. thesis, Department of Computer Science, University of Copenhagen, Denmark.Google Scholar
- Featherstone, R. 1998. Robot Dynamics Algorithms, 2nd ed. Kluwer Academic Publishers. Google ScholarDigital Library
- Gleicher, M. 1994. A differential approach to graphical manipulation. Ph.D. thesis, Carnegie Mellon University. Google ScholarDigital Library
- Goyal, S., Ruina, A., and Papadopoulos, J. 1989. Limit surface and moment funktion descriptions of planar sliding. In Proceedings of the IEEE International Conference on Robotics and Automation. Scottsdale, AZ, 794--799.Google Scholar
- Guendelman, E., Bridson, R., and Fedkiw, R. 2003. Nonconvex rigid bodies with stacking. ACM Trans. Graph. (July). Google ScholarDigital Library
- Hahn, J. K. 1988. Realistic animation of rigid bodies. Comput. Graph. 22, 299--308. Google ScholarDigital Library
- Hubbard, P. M. 1993. Interactive collision detection. In Proceedings of the IEEE Symposium on Research Frontiers in Virtual Reality. 24--32.Google ScholarCross Ref
- Jean, M. 1999. The non-smooth contact dynamics method. Comput. Methods Appl. Mechanics Engin. 177, 3--4 (July) 235--257.Google ScholarCross Ref
- Kaufman, D. M., Edmunds, T., and Pai, D. K. 2005. Fast frictional dynamics for rigid bodies. ACM Trans. Graph. 24, 3, 946--956. Google ScholarDigital Library
- Lacoursiere, C. 2003. Splitting methods for dry frictional contact problems in rigid multibody systems: Preliminary performance results. In The Annual SIGRAD Conference. M. Ollila, Ed, Vol. 10.Google Scholar
- Milenkovic, V. J. and Schmidl, H. 2001. Optimization-based animation. SIGGRAPH Conference. Google ScholarDigital Library
- Mirtich, B. 1996. Impulse-based dynamic simulation of rigid body systems. Ph.D. thesis, University of California, Berkeley. Google ScholarDigital Library
- Moore, M. and Wilhelms, J. 1988. Collision detection and response for computer animation. In Comput. Graph. 22, 289--298. Google ScholarDigital Library
- Moravanszky, A. 2004. A path to practical rigid body dynamics. Annual CISP Workshop, Copenhagen, Denmark.Google Scholar
- Moreau, J. 1999. Numerical aspects of the sweeping process. Comput. Methods Appl. Mechanics Engin. 177, 3--4 (July), 329--349.Google ScholarCross Ref
- Murty, K. G. 1988. Linear Complementarity, Linear and Nonlinear Programming. Helderman-Verlag.Google Scholar
- OpenTissue. Opensource Project, Physics-based Animation and Surgery Simulation, www.opentissue.org.Google Scholar
- Pfeiffer, F. and Wösle, M. 1996. Dynamics of multibody systems containing dependent unilateral constraints with friction. J. Vibration Control 2, 161--192.Google ScholarCross Ref
- Redon, S. 2004. Continuous collision detection for rigid and articulated bodies. ACM SIGGRAPH Course Notes. To appear.Google Scholar
- Redon, S., Kheddar, A., and Coquillart, S. 2003. Gauss least constraints principle and rigid body simulations. In Proceedings of IEEE International Conference on Robotics and Automation.Google Scholar
- Redon, S., Kim, Y. J., Lin, M. C., and Manocha, D. 2004. Fast continuous collision detection for articulated models. In Proceedings of ACM Symposium on Solid Modeling Applications. To appear. Google ScholarDigital Library
- Renouf, M., Acary, V., and Dumont, G. 2005. Comparison of algorithms for collisions, contact and friction in view of real-time applications in multibody dynamics. In Proceedings of the International Conference on Advances in Computational Multibody Dynamics (ECCOMAS Thematic Conference).Google Scholar
- Renouf, M. and Alart, P. 2004. Gradient type algorithms for 2d/3d frictionless/frictional multicontact problems. In ECCOMAS'04.Google Scholar
- Sauer, J. and Schömer, E. 1998. A constraint-based approach to rigid body dynamics for virtual reality applications. ACM Symposium on Virtual Reality Software and Technology, 153--161. Google ScholarDigital Library
- Schmidl, H. and Milenkovic, V. J. 2004. A fast impulsive contact suite for rigid body simulation. IEEE Trans. Visualiz. Comput. Graph. 10, 2, 189--197. Google ScholarDigital Library
- Stephane Redon, A. K. and Coquillart, S. 2002. Fast continuous collision detection between rigid bodies. Comput. Graph. Forum (Eurographics'02) 21, 3.Google Scholar
- Stewart, D. and Trinkle, J. 1996. An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction. Int. J. Numeric. Methods Engin.Google Scholar
- Stewart, D. E. 2000. Rigid-body dynamics with friction and impact. SIAM Rev. 42, 1, 3--39. Google ScholarDigital Library
- Trinkle, J. C., Tzitzoutis, J., and Pang, J.-S. 2001. Dynamic multi-rigid-body systems with concurrent distributed contacts: Theory and examples. Philosoph. Trans. Mathemat. Phys. Engin. Sci. 359, 1789 (Dec.), 2575--2593.Google Scholar
Index Terms
- Velocity-based shock propagation for multibody dynamics animation
Recommendations
ElastoHydroDynamic lubricated cylindrical joints for rigid-flexible multibody dynamics
A new methodology is proposed for the dynamic analysis of rigid-flexible multibody systems with ElastoHydroDynamic (EHD) lubricated cylindrical joints. The EHD lubricated cylindrical joint is formulated by the Natural Coordinate Formulation (NCF) and ...
Combining multibody dynamics, finite elements method and fluid film lubrication to describe hermetic compressor dynamics
ICOSSSE'07: Proceedings of the 6th WSEAS international conference on System science and simulation in engineeringThis work describes in details the steps involved within the mathematical modelling of reciprocating linear compressors. The dynamics of the mechanical components are described with help of Dynamics of Multibody Systems (rigid components) and Finite ...
Comments