Published February 1990
| public
Book Section - Chapter
The virtual erector set: dynamic simulation with linear recursive constraint propagation
- Creators
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Schröder, Peter
- Zeltzer, David
Abstract
We have implemented an algorithm for rigid body dynamics which unifies the advantages of linear recursive algorithms with the advantages of earlier linear algebra based constraint force approaches. No restriction is placed on the joints between links. The algorithm is numerically robust and can deal with arbitrary trees of bodies, including kinematic loops. Motion as well as force constraints on the dynamic behavior of any member of the linkage can be added easily. Through the use of spatial algebra notation---including our extension to account for spatial position---the mathematical expressions are simplified and more efficient to execute. The algorithm has been implemented on workstation class machines and performs at interactive speeds.
Additional Information
This work was supported in part by the National Science Foundation Grant IRI-8712772, BBN Systems and Technology Corp., Rome Air Development Center (RADC) of the Air Force System Command, Defense Advanced Research Projects Agency (DARPA) Grant N00140-88-C-0806, and an equipment grant from Hewlett Packard Co. Special thanks to Michael McKenna for the many discussion s we had on the subject of spatial algebra. Thanks to Steve Pieper who is responsible for bolio and the many tools which greatly helped in the implementation and testing of the VES.Additional details
- Eprint ID
- 119200
- Resolver ID
- CaltechAUTHORS:20230210-663927000.2
- IRI-8712772
- NSF
- BBN Systems and Technology Corp.
- Rome Air Development Center
- N00140-88-C-0806
- Defense Advanced Research Projects Agency (DARPA)
- Hewlett-Packard Company
- Created
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2023-02-11Created from EPrint's datestamp field
- Updated
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2023-02-11Created from EPrint's last_modified field