Article | Proceedings of the 10<sup>th</sup> International Modelica Conference; March 10-12; 2014; Lund; Sweden | Simulating Collisions within the Modelica MultiBody library
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Title:
Simulating Collisions within the Modelica MultiBody library
Author:
Andreas Hofmann: Bosch Rexroth AG, Lohr am Main, Germany Lars Mikelsons: Bosch Rexroth AG, Lohr am Main, Germany Ines Gubsch: TU Dresden, Chair of Construction Machines and Conveying Technology, Germany Christian Schubert: TU Dresden, Chair of Construction Machines and Conveying Technology, Germany
DOI:
10.3384/ecp14096949
Download:
Full text (pdf)
Year:
2014
Conference:
Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Issue:
096
Article no.:
099
Pages:
949-957
No. of pages:
9
Publication type:
Abstract and Fulltext
Published:
2014-03-10
ISBN:
978-91-7519-380-9
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press; Linköpings universitet


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In this paper an approach for handling collision within the Modelica MultiBody library is presented. Therefore; a short overview about collision consideration for multibody simulation is given. Different methods for calculating the contact reactions are discussed and their potentials for implementation in a free Modelica library are deliberated. Furthermore the implementation of this collision library; using a penalty-based collision approach and the Bullet Physics Library for collision detection is described. The application is demonstrated in examples and limitations are brought up. Although some drawbacks restrict usability; the library can be used to increase the level of detail for multibody simulation models.

Keywords: Contact; collision detection; collision library

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Andreas Hofmann, Lars Mikelsons, Ines Gubsch, Christian Schubert
Title:
Simulating Collisions within the Modelica MultiBody library
DOI:
http://dx.doi.org/10.3384/ecp14096949
References:

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[4] Mirtich, B. V. Impulse-based Dynamic Simulation of Rigid Body Systems. Berkleley, USA: Ph.D. thesis, Graduate Division, UC Berkeley. [5] Glocker, Ch. Dynamik von Starrkörpersystemen mit Reibung und Stößen. In: VDIFortschrittsbereichte Mechanik/Bruchmechanik, 1995


[6] Beitelschmidt, M. Reibst√∂√üe in Mehrk√∂rpersystemen. Munich, Germany: Ph.D. thesis, Lehrstuhl B f√ľr Mechanik, 1998.


[7] Schmitt, A. A. Dynamische Simulation von gelenkgekopppelten Starrkörpersystemen mit der Impulstechnik. Karlsruhe, Germany: internal report, Department of Computer Science, Karlsruhe Institute of Technology, 2003.


[8] Bullet Physics Library. available at: www.bulletphysics.com.


[9] Coumans, E. Bullet 2.80 Physics SDK Manual. URL: http://www.cs.uu.nl/docs/vakken/mgp/assignment/Bullet%20-%20User%20Manual.pdf, 2012.


[10] Machado,M. et al. Compliant contact force models in multibody dynamics: Evolution of the hertz contact theory. In: Mechanism and Machine Theory 53 (2012), pages 99-121.


[11] Gilbert, E.G., Johnson, D.W. and Keerthi, S.S. A fast procedure for computing the distance between complex objects in three-dimensional space. In: IEEE Journal of Robotics and Automation 4(2), pages 193-203, 1988.


[12] Cohen, J.D. et al. I-Collide: An Interactive and Exact Collision Detection System for Large-Scale Environments. In: Proceedings of the 1995 Symposium on Interactive 3D Graphics 189ff, Monterey, CA, USA, 1995.

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Andreas Hofmann, Lars Mikelsons, Ines Gubsch, Christian Schubert
Title:
Simulating Collisions within the Modelica MultiBody library
DOI:
http://dx.doi.org/10.3384/ecp14096949
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