A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation

We propose a novel real-time physically-accurate simulator for long flexible cable manipulation. We first discretize the cable into multiple rigid link segments, each with complementarity-based contact model and inter-segment compliant coupling; and partition the cable into a number of subsystems, each composed with a number of consecutive links. We then formulate the inter-subsystem consistency constraint as a certain analytical condition among the inter-subsystem coupling and the contact impulses; and solve each subsystem dynamics in parallel with the contact model together with this consistency condition in an iterative manner, achieving both the speed and the accuracy of the simulation. A novel post-regulation scheme is also proposed to further speed up the simulation. Experimental validation/demonstration are also performed to show the theory.

Authors

• Jeongmin Lee 0002
• Minji Lee
• Jaemin Yoon
• Dongjun Lee

Keywords

• Couplings
• Deformable models
• Analytical models
• Automation
• Conferences
• Reinforcement learning
• Real-time systems
• Parallelization
• Flexible Use
• Real-time Simulation
• Flexible Cables
• Contact Model
• Rigid Segments
• Number Of Subsystems
• Subsystem Dynamics
• Parallel Dynamics
• Time Step
• Computation Time
• Young’s Modulus
• Previous Step
• Ordinary Differential Equations
• Iteration Step
• Strain Energy
• Robotic Arm
• Simulation Scheme
• Dynamic Integration
• Local Reference Frame
• Direct Solver
• Deformable Objects
• Contact Situations