Simulation Apparatus for Accurate Object Follow-up Movement
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Solution Overview
Problem
Existing object motion simulation techniques, such as the kinematic chain simulation system, often fail to accurately simulate the follow-up movement of an object handled by a machine, as the simulated object is unable to properly follow the machine's motion.
Innovation Solution
A simulation apparatus and method that includes a processor to execute a control program for a controller, which controls a virtual machine in a virtual space. The processor determines whether the volume of the work space occupied by a virtual object is equal to or greater than a predetermined reference value, and if so, makes the virtual object follow the motion of the virtual machine, ensuring accurate follow-up movement simulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional kinematic chain simulation is used to simulate follow-up movement, then the simulation system is simple to implement, but the simulated object cannot accurately follow the machine's motion
Solution Approach 1:
The patent segments the work space into multiple sub-regions and determines whether the object is located in each sub-region. This segmentation allows for precise calculation of the overlapping volume between the object and work space, thereby improving simulation accuracy without requiring complex global calculations
Solution Approach 2:
The patent introduces a volume-based criterion (overlapping volume ratio) as an additional dimension for determining follow-up movement conditions. Instead of relying solely on positional relationships, the system evaluates the three-dimensional overlap between the object and work space, enabling more accurate simulation of actual physical interactions
2Measurement precision
If the work space is divided into multiple sub-regions for accurate volume calculation, then the simulation accuracy improves, but the computational complexity increases
Solution Approach 1:
The work space is divided into multiple sub-regions to enable precise volume calculation. By calculating the number of sub-regions where the object is located and multiplying by the sub-region volume, the system achieves accurate overlapping volume calculation through segmented analysis rather than complex integral computations
Solution Approach 2:
The patent calculates the overlapping volume by determining the number of sub-regions containing the object and multiplying by the sub-region volume. This partial calculation approach (counting discrete sub-regions) provides sufficient precision for simulation purposes without requiring exhaustive detailed calculations of the entire continuous space
Data Source
AI summary
A simulation apparatus includes a processor that executes a simulation of a control program executed on a controller. The controller controls motion of a machine that handles an object. The processor includes: a motion control device that controls motion of a virtual machine based on a motion command to move the virtual machine in a virtual space, with the virtual machine corresponding to the machine; a determination device that determines whether a volume of a region, where a work space in which the virtual machine works overlaps with the virtual object, is equal to or greater than a predetermined reference value, the virtual object being handled by the virtual machine and corresponding to the object; and a follow-up device that makes the virtual object follow the motion of the virtual machine based on the motion command when the volume is equal to or greater than the reference value.