TY - JOUR
T1 - A Generalized Framework for Interactive Dynamic Simulation for Multirigid Bodies
AU - Son, Wookho
AU - Kim, Kyunghwan
AU - Amato, Nancy M.
AU - Trinkle, Jeffrey C.
N1 - Funding Information:
Manuscript received July 2, 2002; revised December 27, 2002. This work was supported in part by the National Science Foundation under CAREER Award CCR-9624315 and Grants IIS-9619850, EIA-9805823, and EIA-9810937 and by the Texas Higher Education Coordinating Board under Grant ARP-036327-017. This paper was recommended by Associate Editor C. T. Lin.
PY - 2004/4
Y1 - 2004/4
N2 - 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.
AB - 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.
KW - Articulated dynamics
KW - Contact dynamics
KW - Dynamic simulation
KW - Haptic interaction
KW - Interactive simulation
KW - Object-oriented design
KW - Rigid-body contact
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U2 - 10.1109/TSMCB.2003.818434
DO - 10.1109/TSMCB.2003.818434
M3 - Article
C2 - 15376839
AN - SCOPUS:1842587880
SN - 1083-4419
VL - 34
SP - 912
EP - 924
JO - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IS - 2
ER -