| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To efficiently obtain an operation space inertial matrix and bias acceleration by a forward dynamics operation even when one operation space is related with positions and postures of a plurality of points of a structure. <P>SOLUTION: The forward dynamics operation is divided into four processes; inertia information calculation, speed information calculation, power information calculation, and acceleration information calculation. The inertia information is calculated only once at a beginning, since it does not change unless the posture of the link structure object changes. The speed information is calculated only at bias acceleration calculation. The power information is calculated only about a link on paths connecting a working point and prescription of the power. The acceleration information is calculated toward the link which performs acceleration calculation from a start point and acceleration calculation is added toward the point in which acceleration calculation is performed with the point where acceleration calculation is already performed as the start point. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
