Variable Time-Step Physics Engine with Continuous Compliance Contact Model for Optimal Robotic Grinding Trajectory...

Area of Science:

• Robotics
• Physics Simulation
• Computational Mechanics

Background:

• Accurate simulation of physical systems is vital for transitioning virtual environments to real-world applications.
• Existing physics engines often struggle with inaccurate simulations, particularly in dynamic scenarios like robotic grinding.
• The precise calculation of contact forces is a key challenge in simulating complex interactions.

Purpose of the Study:

• To introduce a novel physics engine with a compliant contact model specifically designed for robotic grinding applications.
• To enhance the accuracy of simulations by improving contact force calculations and dynamic parameter determination.
• To validate the engine's reliability through experimental verification.

Main Methods:

• Derivation of dynamic equations incorporating spring stiffness, damping, restitution coefficients, and external forces.
• Development of a contact model utilizing effective inertia and pose transformation for multi-jointed robots.
• Implementation of continuous and variable time-step simulations with spring-damper elements for energy conversion during collisions.

Main Results:

• The physics engine accurately calculates dynamic parameters like contact force, acceleration, velocity, and position during penetration.
• Effective capture of energy conversion in scenarios with convex contact surfaces.
• Experimental validation using bouncing ball and robotic grinding tests confirmed the solver's reliability and system stability.

Conclusions:

• The proposed physics engine advances simulation technology beyond geometrically constrained models.
• It significantly enhances the accuracy of simulations and modeling in dynamic, real-world applications like robotic grinding.
• This work provides a more robust tool for virtual-to-real-world system emulation.