High-speed dynamics computation for link system

Details High-speed dynamics computation for link system High-speed dynamics computation for link system

2006-06-06

2006-06-06

Paladini, Albert W. (Department: 2125)

Data processing: structural design, modeling, simulation, and em

Structural design

C703S007000

Reexamination Certificate

active

07058551

ABSTRACT:
A high-speed forward dynamics computation for a link system wherein links are connected via joints, has: (1) first step for adding a joint 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 step 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.

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Yamane et al., “Dynamics Computation of Closed Kinematic Chains for Motion Synthesis of Human Figures,” Proceedings of the 1999 IEEE/RSJ, International Conference on Intelligent Robots and Systems, pp. 1108-1114, 1999.

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