Combining Movement Methods for Mechatronic Components in e-Robotics Systems

Motion and movement are central aspects in 3D simulation. In virtual systems, motion can be modelled in various ways. Aspects and constraints like the desired level of abstraction, modelling and computational effort, numerical properties, and capabilities of the simulation system influence the choice of model. In this paper, we provide an overview of different methods for modelling and simulating movement. We then present an approach to concurrently use and combine such different movement methods in the same 3D simulation scenario. This approach allows for the demand-driven exchange of methods and thus supports flexible, iterative modelling workflows.