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Integration of coll...
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Engelson, VadimLinköpings universitet,Institutionen för datavetenskap,Tekniska högskolan
(author)
Integration of collision detection with the multibody system library in Modelica
- Article/chapterEnglish2000
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Linköping University Electronic Press,2000
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LIBRIS-ID:oai:DiVA.org:liu-88552
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https://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-88552URI
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https://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-190702URI
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Language:English
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Summary in:English
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Subject category:ref swepub-contenttype
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Subject category:art swepub-publicationtype
Series
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Linköping Electronic Articles in Computer and Information Science,1401-9841 ;Vol.5:10
Notes
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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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Linköpings universitetInstitutionen för datavetenskap
(creator_code:org_t)
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In:Linköping Electronic Articles in Computer and Information Science: Linköping University Electronic Press5:101401-9841
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