Robot : Dynamic modeling system for robotics applications

摘要

We describe models and algorithms designed to produce efficient and physically consistent dynamic simulations in the context of Intervention Robotics (i.e. for Robotics tasks involving strong physical interaction constraints and non necessarily rigid objects). These models and algorithms have been implemented within the $Robot\Phi$ system which can be potentially configured for a large variety of intervention-style tasks such as dextrous manipulations with a robot hand; manipulation of non-rigid objects; tele-programming the motions of an all-terrain vehicle; and some robot assisted surgery tasks (e.g. positioning of an artificial ligament in knee surgery). The approach uses a novel physically based modeling technique to produce dynamic simulations which are both efficient and consistent according to the laws of the Physics. The main advances over previous works in Robotics and Computer Graphics fields are twofold: the development of a unique framework for simultaneously processing motions, deformations, and physical interactions; and the incorporation of appropriate models and algorithms for obtaining efficient processing times while insuring consistent physical behaviors. These models are based upon three basic principles : the energy-based adaptative time step principle, the inertia-based adaptative discretization principle. and the dynamic surface/surface interactions law.