Title: | Integration of Collision Detection with the Multibody System Library in Modelica. |
Authors: | Vadim Engelson |
Series: | Linköping Electronic
Articles in Computer and Information Science ISSN 1401-9841 |
Issue: | Vol. 5(2000): nr 010 |
URL: | http://www.ep.liu.se/ea/cis/2000/010/ |
Abstract: |
Collision detection and response is one of the most difficult areas in simulation of multibody
systems. Two known approaches, the impulse-based method and the force-based (penalty) method,
can be applied for multibody simulation in Modelica.
The impulse-based method requires instantaneous modification of some variables,
but such modification is not always possible in Modelica. The force-based method leads to
stiff ODE, which can be handled by solvers used with Modelica.
We suggest a new way to express the penalty coefficients.
The force-based method, however, requires computation of penetration depth which is time-consuming.
We also suggest a method that combines the distance between bodies and the penetration depth into a single quantity used for force computation. Calling external functions is a preferable method integrate collision detection algorithms with practical physical models, since body geometry is stored externally. We describe an interface with collision detection tool SOLID. |
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Keywords: |
Intended publication 2000-12-05 |
Postscript part I --
Checksum Postscript part II -- Checksum II |
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