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© ALS Geometric Software S.A. – All rights reserved GGCM : The General Geometric Constraint Manager Brief Technical Overview
A next-generation, 2D/3D integrated, fully variational constraint manager. Input: A set of geometric objects, curves, surfaces, assembly parts, variables etc A set of complex constraints and equations Output: A solution that satisfies all constraints and equations Analysis and diagnostic output. © ALS Geometric Software S.A. – All rights reserved
Technology-leading variational solving for: Assembly management Part design Robotics Curve and surface editing and optimisation Smooth kinematic motion simulation Constantly exploring many more (Operations research and optimisation, financial engineering, biochemistry, etc) © ALS Geometric Software S.A. – All rights reserved
GGCM is, in its heart, a non-linear equation solver. Based on breakthrough research and technology developed in-house. Superior in: Solvability Performance Behaviour Flexible and extensible. Equipped with a simple C/C++ API for integration into any Client software system. Accompanied by a configurable Client application. © ALS Geometric Software S.A. – All rights reserved
Natively supported GGCM objects: Points, lines and planes Scalar variables Fully variational B-spline curves & surfaces Fully variational conic sections (ellipse, parabola, hyperbola) Natively supported constraint types: Distance, angle (sign & supplementarity allowed) Incidence for points, lines, planes Curve-point-incidence, Curve-line-tangency Symmetries © ALS Geometric Software S.A. – All rights reserved
User-defined objects and constraints Power in the hands of the Application. Examples: Inequalities CirclesCones ToriMidpoint EqualitySymmetry Areas and volumeGears ScrewsRack/pinion Beltsetc © ALS Geometric Software S.A. – All rights reserved
Extremely powerful Non-linear solving capabilities Engineering constraints Complex physical systems Curves and surfaces Etc. © ALS Geometric Software S.A. – All rights reserved
Belt and pulleyHanging cable and spring © ALS Geometric Software S.A. – All rights reserved
Needle always perpendicular to Bspline © ALS Geometric Software S.A. – All rights reserved
Curvature control Convexity enforced Convexity not enforced Inequality constraints Inequalities on joints © ALS Geometric Software S.A. – All rights reserved
Curve length constraint. Cable extends/retracts according to robot movement. Cable properties defined by expressions. © ALS Geometric Software S.A. – All rights reserved
Tighten cable avoiding collision © ALS Geometric Software S.A. – All rights reserved
Soft fixing makes elements heavier Discrete and continuous modes Not absolute fixing: Things will move if they need to. E.g. two options: A) Make V heavier B) Make L heavier Movement of robot will try to respect relative weight of V and L. © ALS Geometric Software S.A. – All rights reserved
Rectangular body B travels along conveyor belt. Obstacle below the conveyor belt. © ALS Geometric Software S.A. – All rights reserved
Elastic surface with embedded rigid bodies © ALS Geometric Software S.A. – All rights reserved
Modelling different elastic properties. © ALS Geometric Software S.A. – All rights reserved
Failure diagnostics: Identifies the smallest part of a failing problem. Error spotted at once. Far outclasses existing offerings. © ALS Geometric Software S.A. – All rights reserved Stiffness (DoF) analysis: Returns a list of objects / assembly parts that are stiff, i.e. have no degrees of freedom left. Rigid Equivalence Classes Automatically identifies groups of objects that are forced to move rigidly, as a result of the constraints in the model.
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CONIC SECTIONS ELLIPSE, PARABOLA AND HYPERBOLA ARE CALLED CONIC SECTIONS BECAUSE THESE CURVES APPEAR ON THE SURFACE OF A CONE WHEN IT IS CUT BY SOME TYPICAL.
© 2011 Autodesk Freely licensed for use by educational institutions. Reuse and changes require a note indicating that content has been modified from the.
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Slide 5- 1 Copyright © 2006 Pearson Education, Inc. Publishing as Pearson Addison-Wesley.
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1 Fundamentals of Robotics Linking perception to action 2. Motion of Rigid Bodies 南台科技大學電機工程系謝銘原.
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Image courtesy of National Optical Astronomy Observatory, operated by the Association of Universities for Research in Astronomy, under cooperative agreement.
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Slide 9- 1 Copyright © 2006 Pearson Education, Inc. Publishing as Pearson Addison-Wesley.
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