| 摘要 |
PURPOSE: A dynamic simulation method of a connection rigid body and a system thereof are provided to renew a part of a Jacobian matrix instead of calculating a new Jacobian matrix, which is required for an integration process of a dynamic equation, per time step, thereby reducing calculation complexity and performing calculation at high speed. CONSTITUTION: A first simulation module calculates a Jacobian matrix related to a dynamic equation of a connection rigid body. The first simulation module calculates a position and a speed vector of a second time step of the connection rigid body based on a position and a speed vector of a first time step of the connection rigid body. A second simulation module renews a part of the Jacobian matrix by using the position and the speed vector of the second time step(S4). The second simulation module calculates a position and a speed vector of a third time step of the connection rigid body by using the renewed Jacobian matrix(S5). [Reference numerals] (AA) Start; (BB) No; (CC) Yes; (DD) End; (S1) Calculate an acceleration vector by using a position/speed vector of a first time step; (S2) Calculate a Jacobian matrix by using the acceleration vector of the first step; (S3) Calculate a position/speed vector of a second time step by using the Jacobian matrix; (S4) Update a part of the Jacobian matrix; (S5) Calculate a position/speed vector of a next time step by using the updated Jacobian matrix; (S6) Last time step? |
