Rigid Body Motion Prediction with Planar Non-convex Contact Patch
Rigid Body Motion Prediction with Planar Non-convex Contact Patch
复制标题
使用平面非凸接触面片的刚体运动预测
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
N. Chakraborty
中科院分区：
文献类型：
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作者：
Jiayin Xie;N. Chakraborty
我们提出了一个原则性的方法，通过动态模拟运动预测的刚体在间歇性接触彼此的接触被假定为一个平面的非凸接触补丁。平面非凸接触片可以是拓扑连通集，也可以是拓扑不连通集。这样的算法在机器人操作的规划和控制中是有用的。刚体动力学仿真中的大多数工作都假设对象之间的接触是点接触，这在许多应用中可能是不正确的。本文利用接触曲面的凸船体，在我们最近用凸接触曲面模拟刚体的基础上，用平面非凸接触曲面模拟物体的运动。我们制定了一个离散时间的混合互补问题，我们解决的接触检测和整合的运动方程的同时。因此，我们的方法是一个几何隐式的方法，我们证明，在我们的配方，有没有人工的接触刚体之间的渗透。我们沿着状态同时求解每个接触片的等效接触点（ECP）和接触冲量，即，物体的形状和速度。我们提供的经验证据表明，我们的方法可以无缝捕捉不同的接触模式之间的过渡，如补丁接触，多点或单点接触在模拟过程中。
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch can either be a topologically connected set or disconnected set. Such algorithms are useful in planning and control for robotic manipulation. Most work in rigid body dynamic simulation assume that the contact between objects is a point contact, which may not be valid in many applications. In this paper, by using the convex hull of the contact patch, we build on our recent work on simulating rigid bodies with convex contact patches, for simulating motion of objects with planar non-convex contact patches. We formulate a discrete-time mixed complementarity problem where we solve the contact detection and integration of the equations of motion simultaneously. Thus, our method is a geometrically-implicit method and we prove that in our formulation, there is no artificial penetration between the contacting rigid bodies. We solve for the equivalent contact point (ECP) and contact impulse of each contact patch simultaneously along with the state, i.e., configuration and velocity of the objects. We provide empirical evidence to show that our method can seamlessly capture transition between different contact modes like patch contact to multiple or single point contact during simulation.