The Umbra Simulation Framework

GOTTLIEB,ERIC ; HARRIGAN,RAYMOND W. ; MCDONALD,MICHAEL J. ; OPPEL III,FRED J. ; XAVIER,PATRICK G.

Sandia National Laboratories

关键词: 99 General And Miscellaneous//Mathematics, Computing, And Information Science;    Computer-Aided Manufacturing;    U Codes;    Computerized Simulation;    Robots;   

DOI  :  10.2172/782709
RP-ID  :  SAND2001-1533
RP-ID  :  AC04-94AL85000
RP-ID  :  782709

美国|英语

来源: UNT Digital Library

【 摘 要 】

Umbra is a new Sandia-developed modeling and simulation framework. The Umbra framework allows users to quickly build models and simulations for intelligent system development, analysis, experimentation, and control and supports tradeoff analyses of complex robotic systems, device, and component concepts. Umbra links together heterogeneous collections of modeling tools. The models in Umbra include 3D geometry and physics models of robots, devices and their environments. Model components can be built with varying levels of fidelity and readily switched to allow models built with low fidelity for conceptual analysis to be gradually converted to high fidelity models for later phase detailed analysis. Within control environments, the models can be readily replaced with actual control elements. This paper describes Umbra at a functional level and describes issues that Sandia uses Umbra to address.