Title :
The architecture of Newton, a general-purpose dynamics simulator
Author :
Cremer, James F. ; Stewart, A. James
Author_Institution :
Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
Abstract :
The architecture of Newton, a general-purpose system for simulating the dynamics of complex physical objects, is described. The system automatically formulates and analyzes equations of motion, and performs automatic modification of this system of equations when necessitated by changes in kinematic relationships between objects. Impact and temporary contact are handled, although only using simple models. User-directed influence of simulations is achieved using Newton´s module, which can be used to experiment with the control of many-degree-of-freedom articulated objects
Keywords :
CAD; digital simulation; dynamics; large-scale systems; robots; Newton; articulated object control; complex physical objects; equations of motion; general-purpose dynamics simulator; impact; kinematic relationships; large-scale systems; many-degree-of-freedom articulated objects; temporary contact; user-directed influence; Algorithm design and analysis; Analytical models; Automatic control; Control systems; Equations; Kinematics; Mechanical engineering; Prototypes; Solid modeling; System testing;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100236
