Simulating a cable driven system representative of a robot
US11487919B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 16, 2021 |
| Grant date | Nov 1, 2022 |
| Priority date | — |
| Expiry date | Jun 16, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F30/17
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A cable driving a large system such as cable driven machines, cable cars or tendons in a human or robot is typically modeled as a large number of small segments that are connected via joints. The two main difficulties with this model are satisfying the inextensibility constraint and handling the typically large mass ratio between the segments and the objects they connect. This disclosure introduces an effective approach to solving these problems. The introduced approach simulates the effect of a cable using a new type of distance constraint called ‘cable joint’ that changes both its attachment points and its rest length dynamically. The introduced approach models a cable connecting a series of objects, e.g., components of a robot, as a sequence of cable joints, reducing the complexity of the simulation from the order of the number of segments in the cable to the number of connected objects.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.