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
  • Author / Creator:
  • Published in:
  • Publisher:
    The Eurographics Association
  • Place of publication:
    Postfach 8043, 38621 Goslar, Germany
  • Year of publication:
    2006
  • Size:
    10 pages
  • ISBN:
  • DOI:
  • Type of media:
    Conference paper
  • Type of material:
    Electronic Resource
  • Language:
    English
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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.

1
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Deformable Hybrid Approach for Haptic Interaction
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17
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Nesme, Matthieu / Payan, Yohan / Faure, François | 2006
25
Local Constraint Methods for Deformable Objects
Gissler, Marc / Becker, Markus / Teschner, Matthias | 2006
33
Kinetic Separation Lists for Continuous Collision Detection of Deformable Objects
Weller, Rene / Zachmann, Gabriel | 2006
43
Collision Detection between a Complex Solid and a Particle Cloud assisted by Programmable GPU
Jiménez, Juan J. / Ogáyar, Carlos J. / Segura, Rafael J. / Feito, Francisco R. | 2006
53
Efficient Updates of Bounding Sphere Hierarchies for Geometrically Deformable Models
Spillmann, J. / Becker, M. / Teschner, M. | 2006
61
Partitioning Meshes into Strips using the Enhanced Tunnelling Algorithm (ETA)
Porcu, Massimiliano B. / Scateni, Riccardo | 2006
71
Position Based Dynamics
Müller, Matthias / Heidelberger, Bruno / Hennix, Marcus / Ratcliff, John | 2006
81
Fast Dynamic Simulation of Multi-Body Systems Using Impulses
Bender, Jan / Schmitt, Alfred A. | 2006
91
Real Time Simulation of Phaco-emulsification for Cataract Surgery Training
Agus, Marco / Gobbetti, Enrico / Pintore, Giovanni / Zanetti, Gianluigi / Zorcolo, Antonio | 2006
101
Virtual Resectoscope Interface for a Surgery Simulation Training System of the Prostate
Padilla, Miguel A. / Monte, Felipe Altamirano del / Cosio, Fernando Arambula | 2006
109
Simulating Prostate Surgical Procedures with a Discrete Soft Tissue Model
Marchal, Maud / Promayon, Emmanuel / Troccaz, Jocelyne | 2006
119
Explicit Integrators Analysis for a Simulation Engine
García, Marcos / Espadero, José Miguel / Rodríguez, Angel | 2006
121
The use of Tetrahedra to Detect Collisions
Madera, F. A. / Day, A. M. / Laycock, S. D. | 2006
123
Stable Collision Response Method in Complex Interactions
Hernantes, J. / Diaz, I. / Alvarez, H. / Borro, D. | 2006
125
Stable Interactive Cutting of Deformable Objects
Jerábková, L. / Jerábek, J. / Chudoba, R. / Kuhlen, T. | 2006
127
A study of the Manipulability of the PHANToM OMNI Haptic Interface
Martín, José San / Triviño, Gracián | 2006
129
Virtual reality training system for portal selection in shoulder arthroscopy
Fernández-Arroyo, José Manuel Fernández / Beriso, Sofía Bayona / Moya, Carolina Gómez / Carro, Lauren García | 2006