We describe a GPU-based computational platform for six-dimensional configuration mapping, which is the description of the configuration space of rigid motions in terms of collision and contact constraints. The platform supports a wide range of computations in design and manufacturing, including three and six dimensional configuration space obstacle computations, Minkowski sums and differences, packaging problems, and sweep computations. We demonstrate dramatic performance improvements in the special case of configuration space operations that determine interference-free or containment-preserving configurations between moving solids. Our approach treats such operations as convolutions in the six dimensional configuration space that are efficiently computed using the Fast Fourier Transform (FFT). The inherent parallelism of FFT algorithms facilitates a straightforward implementation of convolution on GPUs with existing and freely available libraries, making all such six dimensional configuration space computations practical, and often interactive.
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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 28–31, 2011
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
978-0-7918-5479-2
PROCEEDINGS PAPER
Rapid Mapping and Exploration of Configuration Space
Saigopal Nelaturi,
Saigopal Nelaturi
University of Wisconsin - Madison, Madison, WI
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Mikola Lysenko,
Mikola Lysenko
University of Wisconsin - Madison, Madison, WI
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Vadim Shapiro
Vadim Shapiro
University of Wisconsin - Madison, Madison, WI
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Saigopal Nelaturi
University of Wisconsin - Madison, Madison, WI
Mikola Lysenko
University of Wisconsin - Madison, Madison, WI
Vadim Shapiro
University of Wisconsin - Madison, Madison, WI
Paper No:
DETC2011-47213, pp. 325-337; 13 pages
Published Online:
June 12, 2012
Citation
Nelaturi, S, Lysenko, M, & Shapiro, V. "Rapid Mapping and Exploration of Configuration Space." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 31st Computers and Information in Engineering Conference, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 325-337. ASME. https://doi.org/10.1115/DETC2011-47213
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