Fast Dynamic Simulation of Multi-Body Systems Using Impulses (English)

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A dynamic simulation method for multi-body systems is presented in this paper. The special feature of this method is that it satisfies all given constraints by computing impulses. In each simulation step the joint states after the step are predicted. In order to obtain valid states after the simulation step, impulses are computed and applied to the connected bodies. Since a valid joint state is targeted exactly, there is no drift as the simulation proceeds in time and so no additional stabilisation is required. In previous approaches the impulses for a multi-body system were computed iteratively. Since dependencies between joints were not taken into account, the simulation of complex models was slow. A novel method is presented that uses a system of linear equations to describe these dependencies. By solving this typically sparse system the required impulses are determined. This method allows a very fast simulation of complex multi-body systems.

  • Title:
    Fast Dynamic Simulation of Multi-Body Systems Using Impulses
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    The Eurographics Association
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    Postfach 8043, 38621 Goslar, Germany
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    10 pages
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  • Type of media:
    Conference paper
  • Type of material:
    Electronic Resource
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Table of contents conference proceedings

The tables of contents are generated automatically and are based on the data records of the individual contributions available in the index of the TIB portal. The display of the Tables of Contents may therefore be incomplete.

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Porcu, Massimiliano B. / Scateni, Riccardo | 2006
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Fast Dynamic Simulation of Multi-Body Systems Using Impulses
Bender, Jan / Schmitt, Alfred A. | 2006
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Virtual Resectoscope Interface for a Surgery Simulation Training System of the Prostate
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Simulating Prostate Surgical Procedures with a Discrete Soft Tissue Model
Marchal, Maud / Promayon, Emmanuel / Troccaz, Jocelyne | 2006
Explicit Integrators Analysis for a Simulation Engine
García, Marcos / Espadero, José Miguel / Rodríguez, Angel | 2006
The use of Tetrahedra to Detect Collisions
Madera, F. A. / Day, A. M. / Laycock, S. D. | 2006
Stable Collision Response Method in Complex Interactions
Hernantes, J. / Diaz, I. / Alvarez, H. / Borro, D. | 2006
Stable Interactive Cutting of Deformable Objects
Jerábková, L. / Jerábek, J. / Chudoba, R. / Kuhlen, T. | 2006
A study of the Manipulability of the PHANToM OMNI Haptic Interface
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Virtual reality training system for portal selection in shoulder arthroscopy
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