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Reiser, Robert (2021) Object Manipulation and Assembly in Modelica. In: Proceedings of 14th Modelica Conference 2021, pp. 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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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/144864/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Object Manipulation and Assembly in Modelica | ||||||||||||||||||||
| Authors: |
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| Date: | September 2021 | ||||||||||||||||||||
| Journal or Publication Title: | Proceedings of 14th Modelica Conference 2021 | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||
| DOI: | 10.3384/ecp21181433 | ||||||||||||||||||||
| Page Range: | pp. 433-441 | ||||||||||||||||||||
| Editors: |
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| Publisher: | Modelica Association and Linköping University Electronic Press | ||||||||||||||||||||
| ISSN: | 1650-3686 | ||||||||||||||||||||
| ISBN: | 978-91-7929-027-6 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | manipulation, grasping, gripper, assembly, collision detection, contact dynamics, state machine | ||||||||||||||||||||
| Event Title: | 14th International Modelica Conference | ||||||||||||||||||||
| Event Location: | Linköping, Sweden | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 20 September 2021 | ||||||||||||||||||||
| Event End Date: | 24 September 2021 | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Project Factory of the Future | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of System Dynamics and Control > Space System Dynamics | ||||||||||||||||||||
| Deposited By: | Reiser, Robert | ||||||||||||||||||||
| Deposited On: | 25 Oct 2021 17:13 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:44 |
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