Title :
Green´s function contact maps for accurate real time collisions
Author :
Ullrich, C. ; Pai, Dinesh K.
Author_Institution :
Inst. of Appl. Math., British Columbia Univ., Vancouver, BC, Canada
Abstract :
In this article, we discuss the application, of a Green´s function approach to contact maps. We apply the contact map algorithm to the case of an elastic bar impacting on a massive foundation. It is demonstrated that the energy lost to elastic waves is an important factor in post-contact states
Keywords :
Green´s function methods; elastic waves; flexible structures; mechanical contact; robot dynamics; transient response; Green function; collision response; contact maps; elastic bar; elastic waves; impulse response; real time system; robotics; Boundary element methods; Computational modeling; Computer science; Energy loss; Green´s function methods; Iris; Partial differential equations; Solid modeling; Telerobotics; Virtual environment;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770378
