发明名称 |
DYNAMICS SIMULATION DEVICE, DYNAMICS SIMULATION METHOD, AND COMPUTER PROGRAM |
摘要 |
A dynamics simulation device for dynamically simulating physical interactions acting on a plurality of objects under an environment where the objects coexist is disclosed. The device includes: nominal value providing means for providing a nominal value Lambdan of an operational space inertial matrix; nominal inertial force calculating means for calculating a nominal inertial force acting on the operational space by the use of the nominal value Lambdan of the operational space inertial matrix and a target acceleration value of the physical quantity x; a disturbance observer estimating forces other than the nominal inertial force acting on the operational space as a disturbance; and means for calculating the force f acting on the physical quantity on the basis of the nominal inertial force and the estimated disturbance fd.
|
申请公布号 |
US2009105997(A1) |
申请公布日期 |
2009.04.23 |
申请号 |
US20080247715 |
申请日期 |
2008.10.08 |
申请人 |
SONY CORPORATION |
发明人 |
NAGASAKA KENICHIRO |
分类号 |
G06F7/60;G06F17/10;G06F19/00 |
主分类号 |
G06F7/60 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|