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Reiser, Robert (2021) Object Manipulation and Assembly in Modelica. In: Proceedings of 14th Modelica Conference 2021, Seiten 433-441. Modelica Association and Linköping University Electronic Press. 14th International Modelica Conference, 2021-09-20 - 2021-09-24, Linköping, Sweden. doi: 10.3384/ecp21181433. ISBN 978-91-7929-027-6. ISSN 1650-3686.
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Kurzfassung
This paper introduces a new library for the manipulation and assembly of 3D objects using Modelica. The method is based on collision detection, contact dynamics, position and orientation control as well as states for object manipulation. The aim is a stable and effi cient simulation of these processes close to real physics. 3D objects (both elementary shapes and CAD objects) can be added from the library browser to a model by drag-and-drop and are directly capable of being manipulated by multiple grippers and conveyors or being assembled to an assembly. This allows a high degree of fl exibility and the modeling effort can be decreased signifi cantly.
| elib-URL des Eintrags: | https://elib.dlr.de/144864/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
| Titel: | Object Manipulation and Assembly in Modelica | ||||||||||||||||||||
| Autoren: |
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| Datum: | September 2021 | ||||||||||||||||||||
| Erschienen in: | Proceedings of 14th Modelica Conference 2021 | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| DOI: | 10.3384/ecp21181433 | ||||||||||||||||||||
| Seitenbereich: | Seiten 433-441 | ||||||||||||||||||||
| Herausgeber: |
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| Verlag: | Modelica Association and Linköping University Electronic Press | ||||||||||||||||||||
| ISSN: | 1650-3686 | ||||||||||||||||||||
| ISBN: | 978-91-7929-027-6 | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | manipulation, grasping, gripper, assembly, collision detection, contact dynamics, state machine | ||||||||||||||||||||
| Veranstaltungstitel: | 14th International Modelica Conference | ||||||||||||||||||||
| Veranstaltungsort: | Linköping, Sweden | ||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
| Veranstaltungsbeginn: | 20 September 2021 | ||||||||||||||||||||
| Veranstaltungsende: | 24 September 2021 | ||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Projekt Factory of the Future | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik | ||||||||||||||||||||
| Hinterlegt von: | Reiser, Robert | ||||||||||||||||||||
| Hinterlegt am: | 25 Okt 2021 17:13 | ||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:44 |
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