Abstract
We present a method for the simulation of compliant, articulated structures using a plausible approximate model that focuses on modeling endpoint interaction. We approximate the structure's behavior about a reference configuration, resulting in a first order reduced compliant system, or FORK (-1) S. Several levels of approximation are available depending on which parts and surfaces we would like to have interactive contact forces, allowing various levels of detail to be selected. Our approach is fast and computation of the full structure's state may be parallelized. Furthermore, we present a method for reducing error by combining multiple FORK (-1)S models at different linearization points, through twist blending and matrix interpolation. Our approach is suitable for stiff, articulate grippers, such as those used in robotic simulation, or physics-based characters under static proportional derivative control. We demonstrate that simulations with our method can deal with kinematic chains and loops with non-uniform stiffness across joints, and that it produces plausible effects due to stiffness, damping, and inertia.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE transactions on visualization and computer graphics
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
