RobWorkProject
6.6.6

This page describes the rwlibs/softbody RobWork module.
(Please note that this module is not enabled by default as it requires 3rd party libraries.)
The softbody module implements a nonlinear beam model supporting large deformations and LayingDown placement operations. The beam has been described in
Modeling and Simulation of Grasping of Deformable Objects (2012)
An Adaptable Robot Vision System Performing Manipulation Actions with Flexible Objects (2013)
The current implementation supports cuboid geometries and nonhomogeneous materials under nonpenetration constraints.
A short presentation and some videos of an application using the softbody module can be found at https://svnsrv.sdu.dk/svn/RobWorkApp/SoftBeamPlugin/presentation/
The softbody module is currently configured to use the IPOPT https://projects.coinor.org/Ipopt nonlinear optimization library. It is currently linked statically and must be present at compile time.
IPOPT should be compiled separately and either placed in the systemwide include/library folders or pointed to by setting IPOPT_HOME accordingly.
IPOPT requires a compatible linear algebra solver library. It supports a variety of routines, e.g. Harwell routines, Pardiso, WSMP and MUMPS (see the options reference at http://www.coinor.org/Ipopt/documentation/node50.html ). Currently the build system in RobWork is configured to use MUMPS due to it having the most permissive license.
Make sure to have set the environment variable IPOPT_HOME to the root of your IPOPT installation, e.g. with a line in .bashrc:
export IPOPT_HOME=/home/arf/Documents/Ipopt3.10.3
After this, enable the flags BUILD_rw_softbody and RW_BUILD_SOFTBODY.
The relevant FIND_PACKAGE CMake commands are located in RobWork/cmake/RobWorkSetup.cmake
Dimensions/deformation result: mm
Young's modulus: MPa
Poisson's ratio: (unitless, between 0.0 and 0.5)
Mass density: kg/mm^3
boost::scoped_ptr< rwlibs::softbody::ModRusselBeamIpopt > beamPtr; boost::shared_ptr< rwlibs::softbody::BeamGeometryCuboid > beamGeomPtr; boost::shared_ptr< rwlibs::softbody::BeamObstaclePlane> beamObstaclePtr; double dx = 110.0; // length of beam double dy = 7.0; // thickness of beam double dz = 57.0; // width of beam int M = 32; // number of cross sections in beam std::vector<double> Exvec = getExvec(M); // Young's modulus for each cross section std::vector<double> vxvec = getvxvec(M); // Poisson's ratio for each cross section std::vector<double> Rhovec = getRhovec(M); // Mass density for each cross section Transform3D<> beamGeomTrans = Transform3D<>::identity(); // transform of the beam base frame at x=0 Vector3D<> G = Vector3D<> ( 0.0, 9.82, 0.0 ); // gravity vector beamGeomPtr.reset ( new BeamGeometryCuboid ( dx, dy, dz, Exvec, vxvec, Rhovec, beamGeomTrans, G ) ); Vector3D<> obstacleNormal = Vector3D<> ( 0.0, 1.0, 0.0 ); // normal of the plane obstacle Transform3D<> obstacleTrans = Transform3D<>::identity(); // transform of the plane obstacle beamObstaclePtr.reset ( new BeamObstaclePlane ( rw::geometry::Plane ( obstacleNormal, 0.0 ), obstacleTrans ) ); /* instantiate the beam, passing the geometry, obstacle and beam size */ beamPtr.reset ( new ModRusselBeamIpopt ( BeamGeomPtr, BeamObstaclePtr, M ) );
/* vectors for storing the solver results */ boost::numeric::ublas::vector<double> avec(M); // angle of each cross section in radians boost::numeric::ublas::vector<double> Uvec(M); // xdeformation of each cross section in mm boost::numeric::ublas::vector<double> Vvec(M); // ydeformation of each cross section in mm /* * Optional: Provide starting guess for optimization by setting avec, Uvec and Vvec appropiately * a starting guess of zero (which we effectively do right here) usually works fine */ beamPtr>setAccuracy ( 1.0e3 ); // accuracy goal for optimization beamPtr>setIntegralIndices ( integralIndices ); // vector containing the indices of constraints that should be active beamPtr>solve ( avec, Uvec, Vvec ); // invoke solver, result will be stored in the passed vectors
A small nonworking code example from a RobWorkStudio plugin where the solution stored in avec, Uvec, Vvec is used to set frames in a workcell.
void SoftBeamPlugin::setRwFrames ( const boost::numeric::ublas::vector< double >& U, const boost::numeric::ublas::vector< double >& V, const boost::numeric::ublas::vector< double >& avec ) { _pluginState = _wc>getStateStructure()>getDefaultState(); for ( int i = 1; i < ( int ) _framePtrList.size(); i++ ) { MovableFrame *frame = _framePtrList[i]; Transform3D<> trans = _beamFrameBase>getTransform ( _pluginState ); trans.P() [0] = U[i] * 1.0e3; trans.P() [1] = V[i] * 1.0e3; EAA<> rotEAA ( 0.0, 0.0, avec[i] ); trans.R() = rotEAA.toRotation3D(); frame>setTransform ( trans, _pluginState ); } _wc>getStateStructure()>setDefaultState ( _pluginState ); getRobWorkStudio()>setState ( _pluginState ); }
Improvement of the hessian approximation.
Currently we use IPOPT's builtin numerical approximation which does not fully exploit sparsity.
Evaluation of other linear algebra solver routines. HSL MA57 should provide a higher theoretical performance than MUMPS for moderatelysized problems, but has stricter licensing.
Add support for more types of constraints
The beam implements nonpenetration constraints by the means of IPOPT inequality constraints. These are enabled/disabled for each cross section of the beam by the user passing a list of active constraints. A more flexible interface supporting different types of constraints, e.g. ones fixing the beam in space should be made.
Add support for more geometry types
The abstract base class BeamGeometry defines the integrals that should be evaluated upon geometry cross sections. This is implemented for cuboid cross sections in BeamGeomtryCuboid. If for instance it should be wished to support spherical crosssections, it is a matter of evaluating the same integrals but on spherical domains.