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The virtual erector set: dynamic simulation with linear recursive constraint propagation

Schröder, Peter and Zeltzer, David (1990) The virtual erector set: dynamic simulation with linear recursive constraint propagation. In: I3D '90: Proceedings of the 1990 symposium on Interactive 3D graphics. Association for Computing Machinery , New York, NY, pp. 23-31. ISBN 978-0-89791-351-5.

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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.

Item Type:Book Section
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Schröder, Peter0000-0002-0323-7674
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.
Funding AgencyGrant Number
BBN Systems and Technology Corp.UNSPECIFIED
Rome Air Development CenterUNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)N00140-88-C-0806
Hewlett-Packard CompanyUNSPECIFIED
Record Number:CaltechAUTHORS:20230210-663927000.2
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ID Code:119200
Deposited By: George Porter
Deposited On:11 Feb 2023 00:26
Last Modified:11 Feb 2023 00:26

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