Dynamic Simulation of One-Dimensional Elastic Objects in Virtual Environment Systems
Abstract
The article considers the problem of real time dynamic simulation of one-dimensional inextensible elastic objects (ropes, cables, etc.) in virtual environment systems. To solve this problem, the fundamentals of the Cosserat theory of elasticity for bending and twisting of the rope are used. An approach in which the rope is discretized by a set of points to define its position and a set of elements between points that determine its orientation is proposed. To specify the orientation of the rope elements, quaternions are involved. With this approach, the inextensibility of the rope is realized using the method of Lagrange multipliers, which leads to a system of linear equations with a tridiagonal matrix solved by the tridiagonal matrix algorithm. In turn, the bending and twisting of the rope are based on the finite element method, which is used to integrate the potential energy of rope deformation. In addition, the implementation of constraints respect to coordinates of the rope position and orientation is performed by the sequential impulses method. Approbation of proposed methods was carried out in a training complex, developed in the System Research Institute, Russian Academy of Sciences, and showed their applicability in virtual environment systems.
About the Authors
E. V. Strashnov
System Research Institute, Russian Academy of Sciences
Russian Federation
Russian Federation
M. A. Torgashev
System Research Institute, Russian Academy of Sciences
Russian Federation
Russian Federation
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Review
For citations:
Strashnov E.V., Torgashev M.A. Dynamic Simulation of One-Dimensional Elastic Objects in Virtual Environment Systems. Proceedings in Cybernetics. 2018;(3 (31)):41-50. (In Russ.)
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