Extremal Point Tracking on Smooth Surfaces

Steffen Madsen*, Milad Jami, Henrik G. Petersen


Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review


Kinematic and dynamic simulations of colliding and sliding bodies have traditionally been based on triangulated object representations, which lead to numerical inaccuracies due to wrong surface normals and inaccurate surface representations. Moreover, contact layers are needed to be able to do efficient simulations. For simulating tight fitting assembly operations, this is particularly critical as the size of numerical inaccuracies and the contact layer are similar to the size of the slack during insertion. Simulations using mathematical surface representations such as planes, cylinders, ellipsoids and B-splines are becoming increasingly popular, and are not suffering from these flaws. It is typically more expensive to find contact points, but once they are found, the contact points can be tracked efficiently if the extrema is unique (singularity free). In this paper, we extend this tracking method for efficiently handling, and also tracking in (near)-singular situations. We outline how this can be done and illustrate it on two cases with singularities.

Titel2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)
ISBN (Elektronisk)9781665490429
StatusUdgivet - 2022
Begivenhed18th IEEE International Conference on Automation Science and Engineering, CASE 2022 - Mexico City, Mexico
Varighed: 20. aug. 202224. aug. 2022


Konference18th IEEE International Conference on Automation Science and Engineering, CASE 2022
ByMexico City
NavnIEEE International Conference on Automation Science and Engineering

Bibliografisk note

Funding Information:
1Steffen Madsen and Milad Jami are with Robotics Lab, Device Manufacturing Development, Novo Nordisk A/S, Brennum Park 24K DK-3400 Hillerød, Denmark bfma@novonordisk.dk; mjam@novonordisk.dk 2Henrik G. Petersen is with the Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55 DK-5230 Odense M, Denmark hgp@mmmi.sdu.dk *Steffen Madsen wishes to thank Innovation Fund Denmark for their financial support

Publisher Copyright:
© 2022 IEEE.


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