Robot Accessory Simulation With Synchronized Time-Step Physics
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Solution Overview
Problem
Existing simulation technologies do not effectively simulate the behavior of devices and accessory devices mounted on robots in a virtual space, particularly in factory automation, lacking integration of accessory device simulations.
Innovation Solution
A simulation apparatus and method that calculates behaviors of a device and its mounted accessory device in a virtual space using separate behavior calculation units, synchronized in the same time step, incorporating a physical simulator to account for force components and collision detection, with data exchange from real machines for enhanced simulation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If separate behavior calculation units are used for device and accessory device, then simulation accuracy is improved, but device complexity increases
Solution Approach 1:
The simulation system is divided into separate behavior calculation units: a first behavior calculation unit for the device and a second behavior calculation unit for the accessory device. This segmentation allows each unit to independently calculate behaviors with appropriate precision while maintaining modular system architecture that manages complexity.
Solution Approach 2:
A behavior transfer unit acts as an intermediary between the first and second behavior calculation units. It receives behavior data from the device calculation unit and transfers it to the accessory device calculation unit, enabling coordinated simulation without requiring direct complex integration between all system components.
2Reliability
If synchronized time step calculation is implemented, then behavior coordination is improved, but computation time increases
Solution Approach 1:
The system performs behavior calculations at discrete, synchronized time steps for both the device and accessory device. This periodic calculation approach ensures that behaviors are coordinated and synchronized while allowing efficient batch processing that balances computational accuracy with execution time.
3Measurement precision
If physical simulator is used for accessory device, then physical accuracy is improved, but device complexity increases
Solution Approach 1:
The physical simulator is implemented as a separate second behavior calculation unit dedicated to accessory devices. This segmentation allows the use of computationally intensive physical simulation methods only where needed (for accessory devices requiring high physical accuracy) while keeping the main device simulation simpler.
Data Source
AI summary
In the present invention, the behavior of devices and the accessory devices of the devices is simulated. This apparatus comprises a first behavior calculation unit that calculates the behavior of a first object in a virtual space corresponding to a first device to which an accessory device is attached and a second behavior calculation unit that calculates the behavior of a second object in a virtual space corresponding to a second device. The second device includes an accessory device. At each predetermined time step, the first behavior calculation unit calculates, in the time step, the behavior of the first object corresponding to the first device to which the accessory device is attached, and then the second behavior calculation unit calculates the behavior of the accessory device attached to the first device on the basis of the calculated behavior of the first object.