Physical animation simulation of robot kit

A robot simulator integrating robot assembly, program design and animation simulation is developed and its physical simulation method is mainly studied. To simulate the real world and robotic behavior, architecture of physical animation simulation is built and multi-body dynamics theory including unilateral constraints is applied to physical interaction. A complementarity-based method is proposed to model unilateral constraints, and this method can deal with dependent contacts and coulomb friction as well as non-elastic impulse. In order to solve the multi-body dynamics equations with unilateral constraints effectively, the mixed nonlinear complementary equations are converted into linear complementary equations by eliminating all of the equality constraints and linearizing friction law. Moreover, a direct correction algorithm is established to avoid drift phenomena. Finally, physical animation simulation is applied and gets a good effect.