Contact response maps for real time dynamic simulation

Author

Ullrich, C. ; Pai, D.K.

Author_Institution

Inst. of Appl. Math., British Columbia Univ., Vancouver, BC, Canada

Volume

3

fYear

1998

fDate

16-20 May 1998

Firstpage

1950

Abstract

We describe the generation and use of “contact response maps” for real time dynamic simulation. Contact response maps are geometry and material dependent maps on physical objects which describe the surface tractions associated with local deformations during contact. We develop a technique for precomputing contact response maps for elastic bodies using the boundary element method to solve the corresponding plane strain problem. Such maps can then be used in a real time simulation environment to accurately resolve collision dynamics

Keywords

boundary-elements methods; computational geometry; deformation; digital simulation; dynamics; flexible structures; impact (mechanical); mechanical engineering computing; partial differential equations; real-time systems; step response; boundary element method; collision dynamics; contact response maps; data structure; dynamic simulation; elastic bodies; geometry; impact mechanics; local deformations; partial differential equations; real time systems; step response; Boundary element methods; Capacitive sensors; Computational modeling; Computer science; Delay; Discrete event simulation; Geometry; Mathematics; Partial differential equations; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680599

Filename

680599