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Mechanical Simulation of the Exomars Rover Using Siconos in 3DROV Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet INRIA Grenoble Rh^one-Alpes, TRASYS May 16, 2013 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 1/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Motivations and Objectives 3DROV Siconos Rover Simulation Conclusion Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 2/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Motivations and Objectives Motivations and Objectives 3DROV I Rover planetary exploration simulation framework SICONOS I INRIA modeling and simulation software I Dedicated to nonsmooth dynamical systems Final Objectives I Integrate SICONOS in 3DROV in order to improve the mechanical simulation fidelity I Design and implement a SICONOS/3Dtools API to simulate multi-body systems with joints, hard contacts, Coulomb's friction and impacts Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 3/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV 3DROV 3DROV Architecture I 3DROV includes rover, environment and controller models I We focus on I the rover mechanical model I 3D visualization tool providing contact information Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 4/15 Generic API I Interaction between dynamics models and 3D tools I ! 3D Collision information I contact points (coordinates, normal vector, friction and restitution) I State of the robot I Joint positions, base frame position and orientation I SICONOS and 3D tools share the model of the robot Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV 3DROV Rover mechanical model I Needed to predict the Rover mechanical behaviour I Evaluate energy consumption Dynamic engines I PhysX, Bullet I qualitatively good but not enough realistic for studying locomotion I SICONOS allows efficient friction-contact model Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 5/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV 3DROV Rover mechanical model I Needed to predict the Rover mechanical behaviour I Evaluate energy consumption Dynamic engines I PhysX, Bullet I qualitatively good but not enough realistic for studying locomotion I SICONOS allows efficient friction-contact model Generic API I Interaction between dynamics models and 3D tools I ! 3D Collision information I contact points (coordinates, normal vector, friction and restitution) I State of the robot I Joint positions, base frame position and orientation I SICONOS and 3D tools share the model of the robot Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 5/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV 3DROV 3D component of 3DROV Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 6/15 Non Smooth Dynamical System (NSDS) I A NSDS is a dynamical system characterized by two correlated features: I a non smooth evolution with the respect to time I jumps in the state and/or in its derivatives w.r.t. time I A set of non smooth laws constraining the state x I Special class of Hybrid Systems with : I A strong mathematical structure I Well-posedness results (existence, uniqueness, continuity with the respect to data) I Efficient simulation tools Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Siconos Software I Modeling, Simulation and Control of nonsmooth mechanical and electrical systems I Open-Source I Platform for research, since 2006, 15 men-year Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 7/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Siconos Software I Modeling, Simulation and Control of nonsmooth mechanical and electrical systems I Open-Source I Platform for research, since 2006, 15 men-year Non Smooth Dynamical System (NSDS) I A NSDS is a dynamical system characterized by two correlated features: I a non smooth evolution with the respect to time I jumps in the state and/or in its derivatives w.r.t. time I A set of non smooth laws constraining the state x I Special class of Hybrid Systems with : I A strong mathematical structure I Well-posedness results (existence, uniqueness, continuity with the respect to data) I Efficient simulation tools Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 7/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Some applications... Electrical circuit breakers INRIA/Schneider-Electric Granular materials INRIA/ANSYS Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 8/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos NSDS examples Non smooth-laws FN FT µ 0 UT −µ 0 yN Unilateral Contact Friction The Bouncing ball 8 T mq¨ = J (q)FN Equation of Motion > <> U = J(q)_q Local contact velocity N (1) 0 y ? F 0 Unilateral contact > 6 N N > :> + − UN = −eUN Impact law Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 9/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Lagrangian systems with unilateral contact and Coulomb's friction In our work we use the Lagrangian dynamical systems formulation : M(q)¨q + N(_q; q) + F (_q; q; t) = Fext (t) + R n I q 2 R : generalized coordinates vector. n×n I M 2 IR : the inertia matrix I N(_q; q) : the non linear inertial term (Coriolis) I F (_q; q; t) : the internal forces n I Fext (t): R 7! R : given external load, n I R 2 R is the force due the non smooth law. Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 10/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Lagrangian systems with unilateral contact and Coulomb's friction In our work we use the Lagrangian dynamical systems formulation : M(q)¨q + N(_q; q) + F (_q; q; t) = Fext (t) + R n I q 2 R : generalized coordinates vector. n×n I M 2 IR : the inertia matrix I N(_q; q) : the non linear inertial term (Coriolis) I F (_q; q; t) : the internal forces n I Fext (t): R 7! R : given external load, n I R 2 R is the force due the non smooth law. Kinematic relations I to take into account local non-smooth phenomena at the contact point, we need a set of Kinematic laws : T y = h(q); UN = h_ (q) = J(q)_q and R = J (q)λ Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 10/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Modeling Steps in Siconos Nonsmooth Dynamical System Dynamical system _x= f(x; t) + r Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 11/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Modeling Steps in Siconos Nonsmooth Dynamical System Dynamical system _x= f(x; t) + r Nonsmooth Law 0 6 y ? λ > 0 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 11/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Modeling Steps in Siconos Nonsmooth Dynamical System Dynamical system _x= f(x; t) + r h(x = y ) ; λ t Relation ; ; t λ ; ) r = g(x Nonsmooth Law 0 6 y ? λ > 0 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 11/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Modeling Steps in Siconos Nonsmooth Dynamical System Dynamical system _x= f(x; t) + r Interaction h(x = y ) ; λ t Relation ; ; t λ ; ) r = g(x Nonsmooth Law 0 6 y ? λ > 0 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 11/15 Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV Siconos Siconos Software Modules I Siconos/Numerics : includes low-level numerical routines I Siconos/Kernel : includes Modeling and Simulation tools I Siconos/Front-End : for user interaction Siconos/Front end Command interactive user interface Siconos/Analysis User Plug-in Siconos/Kernel Modeling and Simulation tools Siconos/Control Siconos/Numerics Existing Numerical Low level Numerical routines Libraries Mechanical Simulation Of The ExoMars Rover Using Siconos in 3DROV V. Acary, M. Br´emond, J. Michalczyk, K. Kapellos, R. Pissard-Gibollet { 12/15 2 - Define the simulation parameters I Type of contact : Newton Impact Non Smooth Law I Type of solver : Newton/AlartCurnier solver I Type of numerical
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