Publication

A novel collision model for inextensible textiles and its experimental validation

Journal Article (2024)

Journal

Applied Mathematical Modelling

Pages

287-308

Volume

128

Doc link

https://doi.org/10.1016/j.apm.2024.01.030

File

Download the digital copy of the doc pdf document

Abstract

In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any decoupling. Self-collisions are modeled in a natural way that allows considering the thickness of cloth without introducing unwanted oscillations. The discretization of the equations of motion leads naturally to a sequence of quadratic problems with inequality and equality constraints. In order to solve these problems efficiently, we develop a novel active-set algorithm that takes into account past active constraints to accelerate the resolution of unresolved contacts. We put to a test the developed collision procedure with diverse scenarios involving static and dynamic friction, sharp objects, and complex-topology folding sequences. Finally, we perform an experimental validation of the collision model by comparing simulations with recordings of real textiles as given by a Motion Capture System. The results are very accurate, having errors around 1 cm for DIN A2 textiles (42 x 59.4 cm) even in difficult scenarios involving fast and strong hits with a rigid object.

Categories

nonlinear programming.

Author keywords

inextensible cloth, collision modeling, Coloumb friction, experimental validation, constrained optimization

Scientific reference

F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. A novel collision model for inextensible textiles and its experimental validation. Applied Mathematical Modelling, 128: 287-308, 2024.