Programming Mechanical Simulations

Abstract

This paper examines the control of complex physical objects in simulation. We introduce a programming paradigm that allows a simulation to be treated as a multi-level constraint solver. The control programmer is given the ability to specify constraints on the controlled response of mechanisms and to conditionally change these constraints dependent on the state of system. The approach facilitates the development of model-based, even-driven control programs. The usefulness of the paradigm is demonstrated through the simulation of a hopping robot.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1991
Accession Number
ADA243767

Entities

People

  • James F. Cremer
  • Joseph K. Kearney
  • Stuart Hansen

Organizations

  • University of Pennsylvania

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Angular Acceleration
  • Angular Momentum
  • Collisions
  • Composite Materials
  • Computational Science
  • Computer Programming
  • Computer Simulations
  • Discontinuities
  • Equations
  • Equations Of Motion
  • Momentum
  • Physical Properties
  • Relative Motion
  • Robots
  • Simulations
  • Simulators
  • Three Dimensional

Fields of Study

  • Computer science
  • Engineering

Readers

  • Computational Fluid Dynamics (CFD)
  • Computational Linguistics
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control