Transcript GGCM: The General Geometric Constraint Manager Brief Technical Overview © ALS Geometric Software S.A.

GGCM: The General Geometric
Constraint Manager
Brief Technical Overview
© ALS Geometric Software S.A. – All rights reserved
A next-generation, 2D/3D integrated, fully variational
constraint manager.
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Input:
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A set of geometric objects, curves, surfaces, assembly parts,
variables etc
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A set of complex constraints and equations
Output:
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A solution that satisfies all constraints and equations
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Analysis and diagnostic output.
© ALS Geometric Software S.A. – All rights reserved
Technology-leading variational solving for:
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Assembly management
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Part design
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Robotics
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Curve and surface editing and optimisation
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Smooth kinematic motion simulation
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Constantly exploring many more (Operations research and
optimisation, financial engineering, biochemistry, etc)
© ALS Geometric Software S.A. – All rights reserved
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GGCM is, in its heart, a non-linear equation solver.
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Based on breakthrough research and technology
developed in-house.
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Superior in:
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Solvability
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Performance
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Behaviour
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Flexible and extensible.
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Equipped with a simple C/C++ API for integration
into any Client software system.
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Accompanied by a configurable Client application.
© ALS Geometric Software S.A. – All rights reserved
© ALS Geometric Software S.A. – All rights reserved
Natively supported GGCM objects:
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Points, lines and planes
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Scalar variables
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Fully variational B-spline curves & surfaces
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Fully variational conic sections (ellipse, parabola,
hyperbola)
Natively supported constraint types:
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Distance, angle (sign & supplementarity allowed)
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Incidence for points, lines, planes
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Curve-point-incidence, Curve-line-tangency
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Symmetries
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• Power in the hands of the Application.
• Examples:
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Circles
Cones
Tori
Midpoint
Equality
Symmetry
Areas and volume
Gears
Screws
Rack/pinion
Belts
etc
Inequalities
© ALS Geometric Software S.A. – All rights reserved
© ALS Geometric Software S.A. – All rights reserved
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Extremely powerful
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Non-linear solving capabilities
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Engineering constraints
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Complex physical systems
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Curves and surfaces
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Etc.
© ALS Geometric Software S.A. – All rights reserved
Belt and pulley
Hanging cable and spring
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Needle always perpendicular to Bspline
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Convexity enforced
Convexity not enforced
Inequalities on joints
Curvature control
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Curve length constraint.
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Cable extends/retracts according to robot movement.
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Cable properties defined by expressions.
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Tighten cable avoiding collision
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Soft fixing makes elements “heavier”
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Discrete and continuous modes
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Not absolute fixing:
Things will move if they
need to.
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E.g. two options:
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A) Make V heavier
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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
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Rectangular body B travels
along conveyor belt.
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Obstacle below the
conveyor belt.
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Elastic surface with embedded rigid bodies
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© ALS Geometric Software S.A. – All rights reserved
Modelling different elastic properties.
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Failure diagnostics:
Identifies the smallest part of a failing problem. Error spotted at once.
Far outclasses existing offerings.
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Stiffness (DoF) analysis:
Returns a list of objects /
assembly parts that are stiff, i.e.
have no degrees of freedom left.
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Rigid Equivalence Classes
Automatically identifies groups
of objects that are forced to
move rigidly, as a result of the
constraints in the model.
© ALS Geometric Software S.A. – All rights reserved