Title:
HIGH SPEED CALCULATION METHOD FOR LINK SYSTEM DYNAMICS
Document Type and Number:
Japanese Patent JP3944566
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a high speed calculation method for link system dynamics capable of calculating sequential dynamics of a rigid body link system including an open link mechanism and a closed link mechanism at a high speed.
SOLUTION: This dynamics calculation method in the link system constituted by connecting links by revolute joints comprises (1) a first step for adding the revolute joints one by one sequentially from a condition in which individual links are scattered to obtain a restraint force acting on the revolute joint between the links at the time, (2) a second step for excluding the revolute joints according to the order reverse to that in the first step to calculate a final restraint force in each revolute joint, (3) a third step for calculating acceleration of the link using an external force acting on each link and obtained in the first and second steps, and (4) a fourth step for calculating revolute joint acceleration using acceleration of links on both sides of each revolute joint and obtained in the third step.
Inventors:
Yoshihiko Nakamura
Yamane Katsu
Yamane Katsu
Application Number:
JP2001228804A
Publication Date:
July 11, 2007
Filing Date:
July 30, 2001
Export Citation:
Assignee:
National University Corporation Tokyo University
International Classes:
B25J9/22; G01P15/00; B25J9/16; G05B17/00; G06F17/10; G06F17/16; G06F17/50; (IPC1-7): B25J9/22; G01P15/00; G06F17/10; G06F17/16
Attorney, Agent or Firm:
Kosaku Sugimura
Shiro Fujitani
Kiyoshi Kuruma
Kenji Sugimura
Shiro Fujitani
Kiyoshi Kuruma
Kenji Sugimura
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