|Title:||Integration of Collision Detection with the Multibody System Library in Modelica|
|Series:||Linköping Electronic Articles
in Computer and Information Science
|Issue:||Vol. 5 (2000), No. 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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