Real-Time Physics Simulation Forum 2012-06-22T15:25:48+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/8214 2012-06-22T15:25:48+00:00 2012-06-22T15:25:48+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=28153#p28153 <![CDATA[Re: Bender's error correction]]>
Cherry

Statistics: Posted by cherrywbtc — Fri Jun 22, 2012 3:25 pm

]]> 2012-06-21T07:55:33+00:00 2012-06-21T07:55:33+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=28149#p28149 <![CDATA[Re: Bender's error correction]]>
I don't know what you mean with "the position correction considering the stability". Maybe the following paper can help you:

http://i31www.ira.uka.de/~jbender/Papers/STAR.pdf

For computing the impulses p you must solve the following linear system:

J M^-1 J^T p = dv

where J is the Jacobian of the constraints and M is the mass matrix. For the Lagrange multiplier method you have exactly the same matrix. In contrast to other methods you obtain the right hand side of the system dv by making a preview of the joint state. This solves the drifting problem.

Jan

Statistics: Posted by Jan Bender — Thu Jun 21, 2012 7:55 am

]]> 2012-06-19T15:32:54+00:00 2012-06-19T15:32:54+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=28136#p28136 <![CDATA[Re: Bender's error correction]]> I saw you mentioned the paper: "Fast Dynamic Simulation of Multi-Body Systems Using Impulses" in an earlier discussion:
viewtopic.php?f=4&t=878

Is this the right paper I should follow? Or your earlier paper: "An impulse-based dynamic simulation system for VR applications"? I am now doing a very simple bilateral constraint problem: a pendulum. I already know how to simulate the motion of the pendulum stick in an impulse-based method with constraints. But I still don't know how to do the position correction considering the stability.

Thanks
Cherry

Statistics: Posted by cherrywbtc — Tue Jun 19, 2012 3:32 pm

]]> 2012-06-19T08:30:32+00:00 2012-06-19T08:30:32+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=28132#p28132 <![CDATA[Re: Bender's error correction]]>
Hi, I am new here. I am trying to understand the bender's error correction in a bilateral constraints problem. Can anybody give me any help on that? Thanks!
Can you specify your problem with the method?

Jan

Statistics: Posted by Jan Bender — Tue Jun 19, 2012 8:30 am

]]> 2012-06-18T20:06:29+00:00 2012-06-18T20:06:29+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=28131#p28131 <![CDATA[Bender's error correction]]>

Cherry

Statistics: Posted by cherrywbtc — Mon Jun 18, 2012 8:06 pm

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