HIGH-SPEED DYNAMICS COMPUTATION FOR LINK SYSTEM

摘要

A high-speed forward dynamics computation for a link system wherein links are connected via joints, has: (1) first step for adding a joi nt one by one in series between the links to an initial link condition wherein all of the respective links are not connected via the joints so as to obtain a force of constraint acting at the joint between the links at that time; (2) second st ep for removing the joint in a reverse order as that of the first step so as to compute a final force of constraint at respective joints; (3) third step for computing an acceleration of respective links by utilizing applied forces obtained in the first step and the second step; and (4) fourth step for computing a joint acceleration by utilizing the accelerations of the links positioned at both ends of respective joints obtained at the third step.