Automated Selection of Modelling Coordinates for Multibody Systems

摘要

Modelling mechanical systems using symbolic equations can provide many advantages over the more widely-used numerical methods of modelling these systems. The use of symbolic equations produces more efficient models that can be used for many purposes such as real-time simulation and control. However, the number, complexity and computational efficiency of these equations is highly dependent upon which coordinate set was used to model the system. This paper proposes certain heuristics that can be used to select coordinates that result in efficient models, and a graph-theoretic algorithm capable of automating the coordinate selection process.