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首页> 外文会议>IEEE/RSJ International Conference on Intelligent Robots and Systems >Fast computation of contact points for robotic simulations based on CAD models without tessellation
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Fast computation of contact points for robotic simulations based on CAD models without tessellation

机译：基于CAD模型的机器人细分的快速计算接触点而无需细分

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摘要

Computing multiple contact points between geometric models evolved in a virtual 3D environment is central to many robotic simulation applications. While this task can be performed efficiently and robustly between complex polyhedra, using the exact analytic geometric models issued by CAD modelers still suffers from efficiency limitations. Yet models composed of smooth surfaces are required to ensure smooth contact constraints, thus avoiding possible numerical artifacts which may dramatically affect the behavior of the system in the case of functional contacts. This paper builds on the observation that industrial CAD models are mostly composed of simple surfaces to perform an off-line identification of similar features and build a bounding volume hierarchy in order to locate potential contacts. Those are then computed by dedicated analytic methods, or an iterative root-finder, depending on the actual geometric representations of the features. In the context of dynamic simulation of robotic tasks, our method exhibits interactive computation times while naturally providing better result accuracy than existing polyhedron-specific algorithms.
机译：在虚拟3D环境中演变的几何模型之间计算多个接触点是许多机器人仿真应用的核心。虽然可以在复杂的Polyhedra之间有效且强大地执行此任务，但是使用CAD建模器发出的确切分析几何模型仍然存在效率限制。然而，由光滑表面组成的模型是为了确保平稳的接触约束，从而避免可能在功能触点的情况下显着影响系统的行为的可能的数值伪像。本文建立了观察，即工业CAD模型主要由简单的表面组成，以执行类似特征的离线识别，并建立边界体积层次，以定位潜在的触点。然后由专用的分析方法或迭代根取景器计算那些，具体取决于特征的实际几何表示。在机器人任务的动态模拟的背景下，我们的方法展示了交互式计算时间，同时自然提供比现有的多面体特定算法更好的结果精度。

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