325 マルチボディシステムのリカーシブ動力学計算法の高速化
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概要
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Multibody dynamics have a wide range of applications including automobiles, railways, robots, rotating machinery, and so on. In order to conduct dynamics simulation of complex multibody systems, efficient forward dynamics algorithms are needed. The most basic and conventional algorithms have O(N^3) complexities where N is the number of degrees of freedom, due to the explicit computation of inverse of the inertia matrix, while Schiehlen proposed an elegant algorithm with O(N^2) complexity based on a representation through recursive formulation of kinematic and dynamic relationships. In this paper, we develop a new algorithm for further acceleration of the forward dynamics computation by modifying the Schiehlen's method. The algorithm achieves O(N) complexity and has the short and compact description that leads to easy maintainability of the program.
- 一般社団法人日本機械学会の論文
- 2011-09-05