A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation
Jeongmin Lee Minji Lee Jaemin Yoon Dongjun Lee Jeongmin Lee Minji Lee Jaemin Yoon Dongjun Lee
We propose a novel real-time physically-accurate simulator for long flexible cable manipulation. We first discretize the cable into multiple rigid link segments, each with complementarity-based contact model and inter-segment compliant coupling; and partition the cable into a number of subsystems, each composed with a number of consecutive links. We then formulate the inter-subsystem consistency c...