On the Application of Accurate Distance Algorithms to Multibody Simulations

Distance algorithms are most frequently used in robotics to determine the distance between two obstacles in the environment of a robot or between a sensor point and an object. We extend the multibody simulation package MOBILE for an application of accurate algorithms for distance computation between objects represented by convex or non‐convex polyhedra. These objects are represented by their vertices and oriented facets. As an application example, a multibody system is discussed where a sensor point moves close to a non‐convex obstacle. The computed results show that the algorithms developed are suitable for accurate real‐time multibody simulations. (© 2005 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)