| 摘要 |
PROBLEM TO BE SOLVED: To realize an analytical processing method and a control method, which process both holonomic constraint and nonholonomic constraint with a unified dynamic equation, in a multibody system consisting of plural mechanical factors consisting of joints. SOLUTION: In the multibody system which includes holonomic equality constraint, the nonholonomic equality constraint and nonholonomic inequality constraint, at first the inequality constraint is converted to a form of the holonomic equality constraint or the nonholonomic equality constraint, then the holonomic equality constraint is converted into a form of the nonholonomic equality constraint and formulated, and each constraint error is defined and unified by only a single scalar.
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